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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Bibliographic Details

Published in:	Advanced robotics Vol. 37; no. 5; pp. 298 - 315
Main Authors:	Katayama, Sotaro, Murooka, Masaki, Tazaki, Yuichi
Format:	Journal Article
Language:	English
Published:	Taylor & Francis 04.03.2023
Subjects:	Computer Science humanoid robot Legged robot model predictive control motion planning Robotics
ISSN:	0169-1864, 1568-5535
Online Access:	Get full text
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