Whole-Body Walking Generation using Contact Parametrization: A
Non-Linear Trajectory Optimization Approach

Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach

10 March 2020

Stefano Dafarra

Giulio Romualdi

Daniele Pucci

Papers citing "Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach"

9 / 9 papers shown

Title
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization Bernardo Aceituno-Cabezas Carlos Mastalli Hongkai Dai Michele Focchi A. Radulescu Darwin G. Caldwell J. Cappelletto J. Grieco Gerardo Fernández-López Claudio Semini 58 151 0 09 Apr 2019
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots Giulio Romualdi Stefano Dafarra Yue Hu Daniele Pucci 35 28 0 06 Sep 2018
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots Stefano Dafarra Gabriele Nava Marie Charbonneau Nuno Guedelha Francisco Andrade ... Luca Fiorio Francesco Romano F. Nori Giorgio Metta Daniele Pucci 47 15 0 14 Jul 2018
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 62 251 0 07 Dec 2017
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 59 127 0 11 Oct 2017
Straight-Leg Walking Through Underconstrained Whole-Body Control Robert J. Griffin Georg Wiedebach Sylvain Bertrand Alexander Leonessa J. Pratt 52 37 0 12 Sep 2017
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot Stefano Dafarra Francesco Romano F. Nori 20 4 0 30 May 2017
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
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 48 98 0 15 Jul 2015