Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
© 2018 IEEE. This paper presents an implementation of model predictive control (MPC) to determine ground reaction forces for a torque-controlled quadruped robot. The robot dynamics are simplified to formulate the problem as convex optimization while still capturing the full 3D nature of the system....
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2021-11-09T17:55:02Z.
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| Subjects: | |
| Online Access: | Get fulltext |