model predictive control

Robust Walking Based on MPC with Viability Guarantees
Model predictive control (MPC) has shown great success for controlling complex systems, such as legged robots. However, when closing …
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
Cite DOI arXiv
Robust Walking Based on MPC with Viability Guarantees