Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah.

Gerardo Bledt Patrick M. Wensing Sangbae Kim

Published in: IROS (2017)

Keyphrases

model predictive control
legged robots
control system
predictive control
optimal policy
mechanical systems
neural network
decision making
mobile robot
humanoid robot
gait recognition
least squares
quadruped robot
walking speed
nonlinear systems
closed loop
feature selection