Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix

Fuente: arXiv

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Bibliographic Details
Main Authors:	Katayama, Sotaro, Takasugi, Noriaki, Kaneko, Mitsuhisa, Nagatsuka, Norio, Kinoshita, and Masaya
Format:	Preprint
Published:	2024
Subjects:	Robotics Optimization and Control
Online Access:	Acceder al recurso
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Internet

https://arxiv.org/abs/2403.14159