118 citations · 240 across the 5 of their papers we have counts for
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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★ 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…