Viability

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
Zero Step Capturability for Legged Robots in Multicontact
The ability to anticipate a fall is fundamental for any robot that has to balance. Currently, fast fall-prediction algorithms only …
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
Cite DOI URL
Zero Step Capturability for Legged Robots in Multicontact