Model Predictive Control With Environment Adaptation for Legged Locomotion

Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test in experiments a real-time Nonlinear Model Predictive Control (NMPC) tailored to a legged robot for achieving dynamic lo...

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Autores principales: Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad
Formato: article
Lenguaje:EN
Publicado: IEEE 2021
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Acceso en línea:https://doaj.org/article/00d6119675544068b478e38e457d3b4b
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