Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping
IEEE Transactions on Control Systems Technology(2021)
摘要
The complex dynamics characterizing deformable terrain presents significant impediments toward the real-world viability of locomotive robotics, particularly for legged machines. We explore vertical, robotic jumping as a model task for legged locomotion on presumed-uncharacterized, nonrigid terrain. By integrating Gaussian process (GP)-based regression and evaluation to estimate ground reaction for...
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关键词
Mathematical model,Optimal control,Legged locomotion,Task analysis,Adaptation models,Substrates
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