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

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Detalles Bibliográficos
Publicado en:	arXiv.org (Dec 22, 2024), p. n/a
Autor Principal:	Elobaid, Mohamed
Outros autores:	Turrisi, Giulio, Rapetti, Lorenzo, Romualdi, Giulio, Dafarra, Stefano, Kawakami, Tomohiro, Chaki, Tomohiro, Yoshiike, Takahide, Semini, Claudio, Pucci, Daniele
Publicado:	Cornell University Library, arXiv.org
Materias:	Payloads Robust control Robot dynamics Closed loops Robots Predictive control Adaptive control Control stability Stability Nonlinear control Liapunov functions Parameter uncertainty Nonlinear dynamics Locomotion
Acceso en liña:	Citation/Abstract Full text outside of ProQuest
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