Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control.
Sotaro KatayamaNoriaki TakasugiMitsuhisa KanekoMasaya KinoshitaPublished in: CoRR (2023)
Keyphrases
- legged locomotion
- nonlinear model predictive control
- inverted pendulum
- dynamic model
- image based visual servoing
- humanoid robot
- mobile robot
- legged robots
- rough terrain
- visual servoing
- feedback control
- computationally efficient
- control algorithm
- intelligent control
- control system
- nonlinear systems
- simulation study
- control scheme
- fuzzy controller
- autonomous navigation
- experimental data
- rough sets