Journal article
BiConMP: a nonlinear model predictive control framework for whole body motion planning
- Abstract:
-
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive control (MPC) framework, the BiConMP which can generate whole body trajectories online by efficiently exploiting the structure of the robot dynamics. BiConMP is used to generate various cyclic gaits on a real quadruped robot and its performance is evaluated on different terrain, countering unforeseen pushes, and tr...
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- Publication status:
- Published
- Peer review status:
- Peer reviewed
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Authors
Bibliographic Details
- Publisher:
- IEEE Publisher's website
- Journal:
- IEEE Transactions on Robotics Journal website
- Pages:
- 1-18
- Publication date:
- 2023-01-06
- DOI:
- EISSN:
-
1941-0468
- ISSN:
-
1552-3098
Item Description
- Language:
- English
- Keywords:
- Pubs id:
-
1318438
- Local pid:
- pubs:1318438
- Deposit date:
- 2023-01-23
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2023
- Rights statement:
- © IEEE 2023
- Notes:
- This is the accepted manuscript version of the article. The final version is available online from IEEE at: https://doi.org/10.1109/TRO.2022.3228390
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