Nonlinear model predictive control for rough-terrain robot hopping.

Martin Rutschmann Brian W. Satzinger Marten Byl Katie Byl

Published in: IROS (2012)

Keyphrases

rough terrain
autonomous navigation
nonlinear model predictive control
humanoid robot
legged locomotion
quadruped robot
dynamic model
visual odometry
robot behavior
image based visual servoing
mobile robot
motion planning
vision system
dynamic environments