Model Hierarchy Predictive Control of Robotic Systems
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DOI: 10.1109/lra.2021.3061322
Abstract: This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion that formulates a hierarchical sequence of optimization problems, the proposed work… read more here.
Keywords: model hierarchy; robotic systems; control; predictive control ... See more keywords