Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah

TitlePolicy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah
Publication TypeConference Paper
Year of Publication2017
AuthorsBledt, G., P. M. Wensing, and S. Kim
Conference Name2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date PublishedSept
KeywordsAerodynamics, closed loop systems, closed-loop, Control design, cost-function parameters, diverse quadrupedal gaits, diverse set, heuristic reference policies, legged locomotion, MIT Cheetah, optimisation, Optimization, policy-regularized model predictive control, policy-regularized model-predictive control, PR-MPC approach, predictive control, stability, unified MPC formulation
DOI10.1109/IROS.2017.8206268