Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization
© 2019 IEEE. This work presents a successful implementation of a nonlinear optimization-based Regularized Predictive Control (RPC) for legged locomotion on the MIT Cheetah 3 robot platform. Footstep placements and ground reaction forces at the contact feet are simultaneously solved for over a predic...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/138004 |