HIGHLIGHTS
- What: Using the leader-follower model and taking into account motion uncertainty, the authors design the dynamic control barrier function as a soft constraint within the model predictive control framework. The authors design a ground reaction forces term and a dynamically feasible term for quadruped robots. The authors propose a comprehensive whole-body nonlinear trajectory The authors compare the computational efficiency of the two methods.
- Who: Zongrui Ji from the (UNIVERSITY) have published the research: Safe motion planning and formation control of quadruped robots, in the Journal: (JOURNAL)
- How: This paper introduces a . . .
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