Walking Control Based on Step Timing Adaptation

Walking Control Based on Step Timing Adaptation

5 April 2017

Alexander Herzog

S. A. A. Moosavian

Ludovic Righetti

Papers citing "Walking Control Based on Step Timing Adaptation"

14 / 14 papers shown

Title
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Tianze Wang Christian Hubicki 56 0 0 19 May 2025
I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning Yashuai Yan Esteve Valls Mascaro Tobias Egle Dongheui Lee 59 5 0 14 May 2024
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation Daegyu Lim Myeong-Ju Kim Junhyeok Cha Jaeheung Park 78 1 0 17 Feb 2024
A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies Myeong-Ju Kim Daegyu Lim G. Park Kwanwoo Lee Jaeheung Park 64 7 0 25 Jul 2023
Feedback MPC for Torque-Controlled Legged Robots R. Grandia Farbod Farshidian René Ranftl Marco Hutter 57 160 0 15 May 2019
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds Michael Neunert M. Stäuble Markus Giftthaler C. D. Bellicoso Jan Carius Christian Gehring Marco Hutter J. Buchli 59 251 0 07 Dec 2017
Online Adaptation for Humanoids Walking On Uncertain Surfaces Majid Khadiv S. A. A. Moosavian A. Yousefi-Koma Hessam Maleki Majid Sadedel 42 13 0 30 Mar 2017
Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum Stéphane Caron A. Kheddar 47 35 0 02 Mar 2017
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas Robert J. Griffin Georg Wiedebach Sylvain Bertrand Alexander Leonessa J. Pratt 61 99 0 01 Mar 2017
Step Timing Adjustment: A Step toward Generating Robust Gaits Majid Khadiv Alexander Herzog A. Moosavian Ludovic Righetti 51 70 0 07 Oct 2016
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment Majid Khadiv Sébastien Kleff Alexander Herzog A. Moosavian S. Schaal Ludovic Righetti 37 18 0 30 Sep 2016
When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC Stéphane Caron Quang Pham 37 31 0 15 Sep 2016
Structured contact force optimization for kino-dynamic motion generation Alexander Herzog S. Schaal Ludovic Righetti 54 83 0 27 May 2016
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid Alexander Herzog Nicholas Rotella Sean Mason F. Grimminger S. Schaal Ludovic Righetti 58 256 0 27 Oct 2014