Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints.
Yvain de ViraghMarko BjelonicC. Dario BellicosoFabian JeneltenMarco HutterPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- legged robots
- mobile robot
- inverted pendulum
- constrained optimization
- motion control
- physical constraints
- cooperative
- optimization algorithm
- kalman filter
- constraint satisfaction
- optimization process
- nonlinear optimization
- optimization method
- global optimization
- robotic systems
- autonomous robots
- global constraints
- lagrange multipliers
- intelligent control
- initial conditions
- robot motion
- robotic agents
- legged locomotion
- np hard optimization problems
- optimization criteria
- penalty function
- mixed integer
- bio inspired
- path planning