humanoid robots

Robust Walking Based on MPC with Viability Guarantees
Model predictive control (MPC) has shown great success for controlling complex systems, such as legged robots. However, when closing …
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
Cite DOI arXiv
Robust Walking Based on MPC with Viability Guarantees
An Efficient Acyclic Contact Planner for Multiped Robots
We present a framework capable of producing contact plans describing complex multiped motions (including humanoid): standing up, …
Steve Tonneau, Andrea Del Prete, Julien Pettre, Chonhyon Park, Dinesh Manocha, Nicolas Mansard
Cite DOI arXiv