Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control

IF 9.4 1区计算机科学 Q1 ROBOTICS

IEEE Transactions on Robotics Pub Date : 2024-11-21 DOI:10.1109/tro.2024.3504132

He Li, Patrick M. Wensing

引用次数: 0

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Cafe-Mpc：具有免调谐全身控制功能的级联保真度模型预测控制框架

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Robotics 工程技术-机器人学

CiteScore

14.90

自引率

5.10%

发文量

259

审稿时长

6.0 months

期刊介绍： The IEEE Transactions on Robotics (T-RO) is dedicated to publishing fundamental papers covering all facets of robotics, drawing on interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, and beyond. From industrial applications to service and personal assistants, surgical operations to space, underwater, and remote exploration, robots and intelligent machines play pivotal roles across various domains, including entertainment, safety, search and rescue, military applications, agriculture, and intelligent vehicles. Special emphasis is placed on intelligent machines and systems designed for unstructured environments, where a significant portion of the environment remains unknown and beyond direct sensing or control.