Research on autonomous gait learning of a snake robot, involving Gaussian process regression(GPR) and model predictive control(MPC).
[1]. A. Mohammadi, E. Rezapour, M. Maggiore and K. Y. Pettersen, “Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints”, IEEE Transactions on Control Systems Technology, vol. 24, no. 3, pp. 884-899, 2016.
[2]. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl and J. T. Gravdahl, “Snake Robots: Modelling, Mechatronics, and Control”, London: Springer, 2013.
For more details, please read "Readme.md" in each folder.
If you want to learn more examples about casADi and MPC, please browse my another repository "Snake-EMPC-casADI".