| Title | Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah |
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| Publication Type | Conference Paper |
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| Year of Publication | 2017 |
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| Date Published | Sept |
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| Authors | Bledt, G., P. M. Wensing, and S. Kim |
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| Conference Name | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
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| Keywords | Aerodynamics, 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 |
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| DOI | 10.1109/IROS.2017.8206268 |
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