Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking
Author:
Affiliation:
1. Massachusetts Institute of Technology,Department of Mechanical Engineering,MA,USA,02139
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9999736/9999739/10000244.pdf?arnumber=10000244
Reference33 articles.
1. 3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization
2. Walking Control Based on Step Timing Adaptation
3. Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models
4. One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller
5. qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications
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