Model predictive control of legged and humanoid robots: models and algorithms

Model predictive control (MPC) of legged and humanoid robotic systems has been an active research topic in the past decade. While MPC for robotic systems has a long history, its paradigm such as problem formulations and algorithms has changed along with the recent drastic progress in robot hardware,...

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Veröffentlicht in:	Advanced robotics Jg. 37; H. 5; S. 298 - 315
Hauptverfasser:	Katayama, Sotaro, Murooka, Masaki, Tazaki, Yuichi
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Taylor & Francis 04.03.2023
Schlagworte:	Computer Science humanoid robot Legged robot model predictive control motion planning Robotics
ISSN:	0169-1864, 1568-5535
Online-Zugang:	Volltext
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