Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

Saved in:

Bibliographic Details
Published in:	arXiv.org (Dec 22, 2024), p. n/a
Main Author:	Elobaid, Mohamed
Other Authors:	Turrisi, Giulio, Rapetti, Lorenzo, Romualdi, Giulio, Dafarra, Stefano, Kawakami, Tomohiro, Chaki, Tomohiro, Yoshiike, Takahide, Semini, Claudio, Pucci, Daniele
Published:	Cornell University Library, arXiv.org
Subjects:	Payloads Robust control Robot dynamics Closed loops Robots Predictive control Adaptive control Control stability Stability Nonlinear control Liapunov functions Parameter uncertainty Nonlinear dynamics Locomotion
Online Access:	Citation/Abstract Full text outside of ProQuest
Tags:	Add Tag No Tags, Be the first to tag this record!

Be the first to leave a comment!