Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots

Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots

Model predictive control (MPC) approaches are widely used in robotics, because they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the tracking terms and proper tuning of the parameters of the cost fu...

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Bibliographic Details
Main Authors: Angelo Bratta, Michele Focchi, Niraj Rathod, Claudio Semini
Format: Article
Language:English
Published: MDPI AG 2023-01-01
Series:Robotics
Subjects:
legged robots
reference generator
model predictive controller
motion and path planning
optimization and optimal control
Online Access:https://www.mdpi.com/2218-6581/12/1/6

Internet

https://www.mdpi.com/2218-6581/12/1/6

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