Motion Planning for a Bounding Quadruped Robot Using iLQG Based MPC
Huang Yezhong,Qing Wei,Hongxu Ma,Honglei An +3 more
- Vol. 1905, Iss: 1, pp 012016
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The article was published on 2021-05-01 and is currently open access. It has received 3 citations till now. The article focuses on the topics: Motion planning & Robot.read more
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Journal ArticleDOI
A New Trajectory Tracking Control Method for Fully Electrically Driven Quadruped Robot
Yulong You,Zhong Yang,Teng'an Zou,Yaoyu Sui,Changliang Xu,Chi Zhang,Hao Xu,Zhao Zhang,Jiaming Han +8 more
TL;DR: In this paper , a quadruped robot dynamics model is developed to find the optimal foot-end force that follows the trunk CoM trajectory based on the model predictive control (MPC) principle.
Journal ArticleDOI
Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control
TL;DR: In this article , a hierarchical kinematic model is designed considering the structural advantages of independent steering and independent driving of the unmanned vehicle, and this model is applied to the path tracking strategy.
Journal ArticleDOI
Trot Gait Stability Control of Small Quadruped Robot Based on MPC and ZMP Methods
TL;DR: In this article , the authors combined the Model Predictive Control (MPC) model and the Zero Moment Point (ZMP) method for gait planning and the foot end landing control of a small quadruped robot.
References
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Capture Point: A Step toward Humanoid Push Recovery
TL;DR: The well-known linear inverted pendulum model is extended to include a flywheel body and it is shown how to compute exact solutions of the capture region for this model, the region on the ground where a humanoid must step to in order to come to a complete stop.
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Real-time optimization and nonlinear model predictive control of processes governed by differential-algebraic equations
Moritz Diehl,H. Georg Bock,Johannes P. Schlöder,Rolf Findeisen,Zoltan K. Nagy,Frank Allgöwer +5 more
TL;DR: In this paper, the authors present a model predictive control (NMPC) for a high-purity distillation column subject to parameter disturbances, which is based on the direct multiple-shooting (DMS) method.
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Virtual Model Control: An Intuitive Approach for Bipedal Locomotion:
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Control-limited differential dynamic programming
TL;DR: This paper demonstrates that simple heuristics used to enforce limits (clamping and penalizing) are not efficient in general, and proposes a generalization of DDP which accommodates box inequality constraints on the controls, without significantly sacrificing convergence quality or computational effort.