Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment

9 March 2022

Giulio Romualdi

Stefano Dafarra

Daniele Pucci

Papers citing "Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment"

20 / 20 papers shown

Title
Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion Masaki Murooka Mitsuharu Morisawa F. Kanehiro 50 19 0 29 May 2025
Quattro: Transformer-Accelerated Iterative Linear Quadratic Regulator Framework for Fast Trajectory Optimization Yue Wang Hoayu Wang Zhaoxing Li 92 0 0 02 Apr 2025
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 41 7 0 18 Mar 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
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control Giulio Romualdi Stefano Dafarra Daniele Pucci 43 8 0 30 May 2021
Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis Yijie Guo Mingwei Zhang Hao Dong Mingguo Zhao 28 13 0 08 Feb 2021
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach Stefano Dafarra Giulio Romualdi Giorgio Metta Daniele Pucci 89 9 0 10 Mar 2020
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots M. Shafiee Giulio Romualdi Stefano Dafarra Francisco Javier Andrade Chavez Daniele Pucci 32 26 0 23 Sep 2019
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback Ahmad Gazar Gabriele Nava Francisco Javier Andrade Chavez Daniele Pucci 36 11 0 27 Jul 2019
MPC for Humanoid Gait Generation: Stability and Feasibility Nicola Scianca Daniele De Simone L. Lanari G. Oriolo 68 103 0 24 Jan 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 42 15 0 14 Jul 2018
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
Robust Bipedal Locomotion Control Based on Model Predictive Control and Divergent Component of Motion M. Shafiee-Ashtiani A. Yousefi-Koma M. Panahi 48 54 0 28 Feb 2017
Step Timing Adjustment: A Step toward Generating Robust Gaits Majid Khadiv Alexander Herzog A. Moosavian Ludovic Righetti 54 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
Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots Gabriele Nava Francesco Romano F. Nori Daniele Pucci 37 76 0 14 Mar 2016
ZMP support areas for multi-contact mobility under frictional constraints Stéphane Caron Quang Pham Yoshihiko Nakamura 53 125 0 12 Oct 2015
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 48 98 0 15 Jul 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