Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped.
Ioannis DadiotisArturo LaurenziNikos G. TsagarakisPublished in: CoRR (2023)
Keyphrases
- highly redundant
- experimental evaluation
- degrees of freedom
- robotic arm
- legged robots
- motion planning
- path planning
- master slave
- humanoid robot
- rough terrain
- quadruped robot
- legged locomotion
- mobile robot
- contact force
- pose estimation
- joint angles
- adaptive control
- parallel manipulator
- dynamic model
- synthetic and real datasets
- closed loop
- end effector
- primal dual
- control law
- motion control
- robotic systems
- disturbance rejection
- articulated structures