Name
Abstract | ||
|---|---|---|
In this letter, we present a whole-body nonlinear model predictive control approach for rigid body systems subject to contacts. We use a full-dynamic system model which also includes explicit contact dynamics. Therefore, contact locations, sequences, and timings are not prespecified but optimized by the solver. Yet, using numerical and software engineering allows for running the nonlinear Optimal ... |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/LRA.2018.2800124 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Optimal control,Dynamics,Nonlinear dynamical systems,Robots,Trajectory,Computational modeling,Hardware | Optimal control,Time horizon,Control theory,Model predictive control,Robustness (computer science),Rigid body,Solver,Engineering,Contact dynamics,Trajectory | Journal |
Volume | Issue | Citations |
3 | 3 | 8 |
PageRank | References | Authors |
0.61 | 19 | 8 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| M. Neunert | 1 | 65 | 9.95 |
| Markus Stäuble | 2 | 19 | 2.08 |
| Markus Giftthaler | 3 | 36 | 5.11 |
| carmine dario bellicoso | 4 | 38 | 3.12 |
| Jan Carius | 5 | 10 | 3.43 |
| Christian Gehring | 6 | 180 | 13.79 |
| Marco Hutter | 7 | 460 | 58.00 |
| Jonas Buchli | 8 | 1081 | 72.94 |