Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control.
Marco HutterChristian GehringMichael BlöschMark A. HöpflingerPeter FankhauserRoland SiegwartPublished in: ICRA (2014)
Keyphrases
- highly nonlinear
- robotic systems
- control system
- dynamical systems
- control method
- air fuel ratio
- process control
- higher dimensional
- dynamic model
- search space
- control strategy
- quadruped robot
- legged robots
- nonlinear dynamics
- control theory
- robot control
- hierarchical model
- mobile robot
- space time
- spatial structure
- neural network
- open loop
- reinforcement learning
- path planning
- coarse to fine
- multiscale