Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum

2 March 2017

Papers citing "Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum"

7 / 7 papers shown

Title
Step Timing Adjustment: A Step toward Generating Robust Gaits Majid Khadiv Alexander Herzog A. Moosavian Ludovic Righetti 57 70 0 07 Oct 2016
When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC Stéphane Caron Quang Pham 40 31 0 15 Sep 2016
Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations Stéphane Caron A. Kheddar 45 68 0 29 Jul 2016
A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation Brahayam Pontón Alexander Herzog S. Schaal Ludovic Righetti 50 73 0 28 Jul 2016
ZMP support areas for multi-contact mobility under frictional constraints Stéphane Caron Quang Pham Yoshihiko Nakamura 56 125 0 12 Oct 2015
Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas Stéphane Caron Quang Pham Yoshihiko Nakamura 63 104 0 20 Jan 2015
A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm Quang Pham 138 193 0 23 Dec 2013