A NOVEL GAUSSIAN PROCESS SURROGATE MODEL WITH EXPECTED PREDICTION ERROR FOR OPTIMIZATION UNDER CONSTRAINTS



Model Predictive Control of Running Biped Robot

With the feet of a biped robot attached insecurely to a terrain, its stability is strongly affected by the characteristics of the terrain on which it runs.Therefore, for stable bipedal running, online motion control based on the states of the THROWS robot and the environment is needed.This paper proposes a method for online motion control of a runn

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