Model Predictive Control
Model Predictive Control (MPC), also called receding horizon control (RHC), is a feedback control method that, at every sampling instant, solves a finite horizon optimal control problem using the current…
Training & Optimization
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Whole-body control
Whole-body control (WBC) is a class of robotics control techniques that coordinates all of a robot's degrees of freedom at once to achieve multiple prioritized tasks, such as balancing, reaching, and…