Non-Linear Trajectory Optimization for Large Step-Ups: Application to
the Humanoid Robot Atlas

Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas

25 April 2020

Stefano Dafarra

Sylvain Bertrand

Robert J. Griffin

Daniele Pucci

Papers citing "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"

10 / 10 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 55 151 0 09 Apr 2019
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control Stéphane Caron A. Kheddar Olivier Tempier 48 132 0 19 Sep 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 59 251 0 07 Dec 2017
Balance control using both ZMP and COM height variations: A convex boundedness approach Stéphane Caron Bastien Mallein 35 20 0 19 Sep 2017
Straight-Leg Walking Through Underconstrained Whole-Body Control Robert J. Griffin Georg Wiedebach Sylvain Bertrand Alexander Leonessa J. Pratt 46 37 0 12 Sep 2017
Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum Stéphane Caron A. Kheddar 49 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
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
Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis Yue Hu Jorhabib Eljaik Kevin Stein F. Nori K. Mombaur 29 11 0 28 Jul 2016
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 48 98 0 15 Jul 2015