Whole-Body MPC for Highly Redundant Legged Manipulators: Experimental Evaluation with a 37 DoF Dual-Arm Quadruped.
Ioannis DadiotisArturo LaurenziNikos G. TsagarakisPublished in: Humanoids (2023)
Keyphrases
- highly redundant
- experimental evaluation
- robotic arm
- degrees of freedom
- legged robots
- path planning
- motion planning
- master slave
- rough terrain
- humanoid robot
- quadruped robot
- legged locomotion
- mobile robot
- dynamic model
- pose estimation
- motion control
- parallel manipulator
- closed loop
- robotic systems
- control law
- synthetic and real datasets
- joint angles
- robotic manipulator
- disturbance rejection
- primal dual
- adaptive control
- physical constraints
- real time