Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors.
Noel Csomay-ShanklinVictor D. DorobantuAaron D. AmesPublished in: ICRA (2023)
Keyphrases
- lie group
- image based visual servoing
- nonlinear model predictive control
- visual servoing
- lie algebra
- mobile robot
- dynamic model
- vision system
- infinite dimensional
- geometric structure
- vector space
- vector field
- linear transformation
- euclidean space
- parameter space
- robotic systems
- humanoid robot
- autonomous robots
- path planning
- mean shift
- real time
- covariance matrices
- riemannian manifolds
- least squares