Model predictive control for leg/wheel mobile robots using partitioned model
Leg/Wheel mobile robots can achieve adaptive motions for various environments using legs or wheels. However, computational complexity of optimization like model predictive control (MPC) is increased with the number of degree of freedom on joints and wheels. In this research, we propose to partition...
| Main Authors: | , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2016-09-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/82/842/82_16-00144/_pdf/-char/en |