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simmediumquadrupedmetric · varies
Control of Legged Robots using Model Predictive Optimized Path Integral
Description
Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. However, such robots have not yet achieved the same level as seen in natural systems. Recently, sampling-based predictive controllers have demonstrated particularly promising results. This paper investigates a sampling-based model predictive strategy combining model predictive path integral (MPPI) with cross-entropy (CE) an