Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-Frequency MPC
Author:
Affiliation:
1. Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA
Funder
USC Viterbi School of Engineering Startup Funds
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Control and Optimization,Control and Systems Engineering
Link
http://xplorestaging.ieee.org/ielx7/7782633/9828546/10008200.pdf?arnumber=10008200
Reference23 articles.
1. Structured contact force optimization for kino-dynamic motion generation
2. Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing
3. Step timing adjustment: A step toward generating robust gaits
4. Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis
5. Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control
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