Bipedal Walking on Constrained Footholds with MPC Footstep Control

14 September 2023

Papers citing "Bipedal Walking on Constrained Footholds with MPC Footstep Control"

7 / 7 papers shown

Title
Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Min Dai Aaron D. Ames 33 0 0 25 Apr 2025
Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots Tara Bartlett Ian R. Manchester 39 0 0 16 Sep 2024
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces Yuan Gao Victor Paredes Yukai Gong Zijian He Ayonga Hereid Yan Gu 26 0 0 12 Sep 2024
STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education Yuhao Huang Yicheng Zeng Xiaobin Xiong 40 1 0 02 Jul 2024
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments Oluwami Dosunmu-Ogunbi Aayushi Shrivastava J. Grizzle 31 0 0 04 Mar 2024
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection Thomas Corbéres Carlos Mastalli W. Merkt Ioannis Havoutis Maurice F. Fallon Nicolas Mansard T. Flayols S. Vijayakumar Steve Tonneau 40 15 0 15 May 2023
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 37 58 0 28 Jun 2022