Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots
Author:
Affiliation:
1. Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA
2. XPeng Robotics, Mountain View, CA, USA
Funder
Army Research Office
National Science Foundation
XPENG Robotics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering
Link
https://ieeexplore.ieee.org/ielam/8860/10352149/10252162-aam.pdf
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