Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion
Controlling quadruped robots during dynamic motions presents significant challenges due to constraints on ground reaction forces and the inherent complexity of their dynamics. Model predictive control (MPC) has shown promise in addressing these challenges. However, the performance of MPC strongly re...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10418132/ |