A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
Author:
Affiliation:
1. ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092
Funder
Swiss National Science Foundation
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9811522/9811357/09812280.pdf?arnumber=9812280
Reference44 articles.
1. Motion planning with sequential convex optimization and convex collision checking
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3. An efficient optimal planning and control framework for quadrupedal locomotion
4. Computation of Collision Distance and Gradient using an Automatic Sphere Approximation of the Robot Model with Bounded Error;voelz;ISR 2018 50th International Symposium on Robotics ISR,2018
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