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Fast, Versatile, and Open-loop Stable Running Behaviors with Proprioceptive-only Sensing using Model-based Optimization.

Wei GaoCharles YoungJohn V. NicholsonChristian HubickiJonathan E. Clark
Published in: ICRA (2020)
Keyphrases
  • open loop
  • closed loop
  • feedback control
  • control system
  • optimization algorithm
  • lagrange multipliers
  • real time
  • monte carlo
  • linear program
  • fixed point
  • control law
  • stability analysis