Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints
نویسندگان
چکیده
منابع مشابه
Virtual Constraints Paradigm for Robotic Locomotion Control
Background. Designing highly mobile biologically inspired legged, winged, and limbless robots has advanced considerably in the past decade. Developing motion control algorithms for these robotic systems, however, is mainly carried out using ad-hoc techniques resulting in motions that are far less agile and efficient than the biological species that have inspired the robot morphology. A recent d...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2020.3001471