3 papers
eess.SY2019
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances
Filippo M. Smaldone, Nicola Scianca, Valerio Modugno +2
Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more chal…
cs.RO2019
MPC for Humanoid Gait Generation: Stability and Feasibility
Nicola Scianca, Daniele De Simone, Leonardo Lanari +1
We present IS-MPC, an intrinsically stable MPC framework for humanoid gait generation which incorporates an explicit stability constraint in the formulation. The proposed method us…
cs.RO2018
Capturability-based Pattern Generation for Walking with Variable Height
Stéphane Caron, Adrien Escande, Leonardo Lanari +1
Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. We generalize this analysis to the variable-h…