Real Time Optimization for Robot Control using Receding Horizon Control with Equal Constraint

DOI10.1002/ROB.10065MaRDI QIDQ4805705zbMATH OpenOpenAlexFDO

Authors Hiroki Takeuchi

Publication date 8 May 2003

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.10065

zbMATH Keywords

receding horizon controlrobot controlequality constraintlegged robot zero moment point

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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(2)

• Receding Horizon Control for Legged Robot-Slack Variable Method for Swing Leg
• Electric circuits performing the swarm optimization

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