Graph Based Model Predictive Control of a Planar Bipedal Robot
نویسندگان
چکیده
منابع مشابه
Graph-based Model Predictive Control of a Planar Bipedal Robot
In this paper, we propose a new offline model predictive control for a planar bipedal robot, which we call here Graph-based Model Predictive Control. This method consists of two phases : the graph construction phase and the real-time control phase. The directed graph is constructed off line by i) placing a certain number of nodes on the state space of the robot, ii) computing the optimal path s...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2006
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.24.663