An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
Author:
Affiliation:
1. University of Michigan,Ann Arbor,MI,USA,48109
2. Cornell University,Department of Mathematics,Ithaca,NY
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9981026/9981028/09981282.pdf?arnumber=9981282
Reference35 articles.
1. Legged robot state estimation using invariant Kalman filtering and learned contact events;lin;Conference on Robot Learning,2021
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4. Geometric tracking control of a quadrotor UAV on SE(3)
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