Optimization-Based Control for Dynamic Legged Robots

Understand

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance.

• The goal of this survey is to cover the recent progress toward these applications that has been driven by model-based optimization for the real-time generation and control of movement.
• The majority of the research community has converged on the idea of generating locomotion control laws by solving an optimal control problem (OCP) in either a model-based or data-driven manner.
• However, solving the most general of these problems online remains intractable due to complexities from intermittent unidirectional contacts with the environment, and from the many degrees of freedom of legged robots.