Optimal Control for Quadruped Locomotion using LTV MPC.
Andrew ZhengSriram S. K. S. NarayananPublished in: CoRR (2022)
Keyphrases
- optimal control
- quadruped robot
- legged robots
- feedback control
- inverted pendulum
- linear quadratic
- rough terrain
- control problems
- dynamic programming
- risk sensitive
- mobile robot
- control strategy
- reinforcement learning
- infinite horizon
- class of nonlinear systems
- brownian motion
- optimal control problems
- robotic systems
- dynamic model
- degrees of freedom
- closed loop
- control law
- autonomous navigation
- constrained optimization
- lyapunov function
- state space
- np hard