Mpc-based controller with terrain insight for dynamic legged locomotion

作者：Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini · 单位：Dynamic Legged Systems lab, Istituto Italiano di Tecnologia, Genoa, Italy, Istituto Italiano di Tecnologia,Dynamic Legged Systems lab,Genoa,Italy,16163, Italian Institute of Technology, Department of Aerospace and Mechanical Engineering, University of Notre, Dame, IN, USA, University of Notre,Department of Aerospace and Mechanical Engineering,Dame,IN,USA,46556, University of Notre Dame, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy, Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genoa,Italy,16163 · 会议/期刊：arXiv preprint · 方向：2020 · 发布日期：2020