Inferring Task-Space Central Pattern Generator Parameters for Closed-loop Control of Underactuated Robots
Nathan D. Kent,Raunaq M. Bhirangi,Matthew Travers,Thomas M. Howard,Nathan D. Kent,Raunaq M. Bhirangi,Matthew Travers,Thomas M. Howard
The complexity associated with the control of highly-articulated legged robots scales quickly as the number of joints increases. Traditional approaches to the control of these robots are often impractical for many real-time applications. This work thus presents a novel sampling-based planning approach for highly-articulated robots that utilizes a probabilistic graphical model (PGM) to infer in rea...
