Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
Author:
Affiliation:
1. ETH Zürich,Department of Mechanical and Process Engineering,Zürich,Switzerland,8092
2. California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125
Funder
NSF
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9999736/9999739/10000132.pdf?arnumber=10000132
Reference43 articles.
1. Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
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5. MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
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