118 citations · 118 across the 2 of their papers we have counts for
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cs.RO2019★ 118 cited
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…