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[해외논문] Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds 원문보기

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, v.37 no.4, 2021년, pp.1154 - 1171  

Ding, Yanran (University of Illinois at Urbana-Champaign, Department of Mechanical Science and Engineering, Urbana, IL, USA) ,  Pandala, Abhishek (Virginia Polytechnic Institute and State University, Department of Mechanical Engineering, VA, USA) ,  Li, Chuanzheng (University of Illinois at Urbana-Champaign, Department of Mechanical Science and Engineering, Urbana, IL, USA) ,  Shin, Young-Ha (Korea Advanced Institute of Science and Technology, Department of Mechanical Engineering, Daejeon, South Korea) ,  Park, Hae-Won (Korea Advanced Institute of Science and Technology, Department of Mechanical Engineering, Daejeon, South Korea)

Abstract AI-Helper 아이콘AI-Helper

This article presents a novel representation-free model predictive control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three-dimensional (3-D) space. Our formulation directly represents the rotational dynamics using the rotation matrix, which liberates us fro...

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