Economic model predictive control for snake robot locomotion.
Marko NonhoffPhilipp N. KöhlerAnna M. KohlKristin Ytterstad PettersenFrank AllgöwerPublished in: CoRR (2019)
Keyphrases
- model predictive control
- mobile robot
- rough terrain
- robotic systems
- robot control
- control system
- predictive control
- legged robots
- central pattern generator
- robot moves
- autonomous robots
- robot motion
- humanoid robot
- quadruped robot
- human robot interaction
- path planning
- active contours
- control scheme
- active contour model
- autonomous navigation
- degrees of freedom
- motion planning
- legged locomotion
- mpc algorithm
- simultaneous localization and mapping
- real time
- vision system
- robot behavior
- control law
- pid controller
- control algorithm
- fuzzy logic
- intelligent systems