Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot-Reference-Cited by-同舟云学术

Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot

Published:2022-11-28 Issue: Volume: Page:
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Container-title:2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
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Author:

Dantec Ewen¹,Naveau Maximilien¹,Fernbach Pierre²,Villa Nahuel¹,Saurel Guilhem¹,Stasse Olivier¹,Taix Michel¹,Mansard Nicolas¹

Affiliation:

1. Universite de Toulouse,LAAS-CNRS, CNRS,Toulouse,France

2. TOWARD,Toulouse,France

Publisher

IEEE

Link

http://xplorestaging.ieee.org/ielx7/9999736/9999739/10000129.pdf?arnumber=10000129

Reference40 articles.

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3. Humanoid arm motion planning for im-proved disturbance recovery using model hierarchy predictive control;khazoom;IEEE International Conference on Robotics and Automation (ICRA),2022

4. Stability of surface contacts for humanoid robots: Closed-form formulae of the Contact Wrench Cone for rectangular support areas

5. Model Hierarchy Predictive Control of Robotic Systems

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