Robust Convex Model Predictive Control for Quadruped Locomotion Under Uncertainties

This article considers quadruped locomotion control in the presence of uncertainties. Two types of structured uncertainties are considered, namely, uncertain friction constraints and uncertain model dynamics. Then, a min-max optimization model is formulated based on robust optimization, and a robust...

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Veröffentlicht in:	IEEE transactions on robotics Jg. 39; H. 6; S. 1 - 18
Hauptverfasser:	Xu, Shaohang, Zhu, Lijun, Zhang, Hai-Tao, Ho, Chin Pang
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.12.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Adaptation models Algorithms Constraint modelling Controllers Heuristic algorithms Legged robots Locomotion model predictive control (MPC) Optimization optimization and optimal control Optimization models Predictive control Predictive models Quadratic programming Quadrupedal robots Robots Robust control robust/adaptive control of robotic systems Uncertainty Unknown environments
ISSN:	1552-3098, 1941-0468
Online-Zugang:	Volltext
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