Model predictive control for leg/wheel mobile robots using partitioned model

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...

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Bibliographic Details
Main Authors: Yuki HAGIMORI, Kenichiro NONAKA, Kazuma SEKIGUCHI
Format: Article
Language:Japanese
Published: The Japan Society of Mechanical Engineers 2016-09-01
Series:Nihon Kikai Gakkai ronbunshu
Subjects:
model predictive control
leg/wheel mobile robot
computational complexity
partitioned model
tracking control
Online Access:https://www.jstage.jst.go.jp/article/transjsme/82/842/82_16-00144/_pdf/-char/en

Internet

https://www.jstage.jst.go.jp/article/transjsme/82/842/82_16-00144/_pdf/-char/en

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