2 papers
cs.RO2025
Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control
Yapeng Shi, Sishu Li, Yongqiang Wu +4
This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations…
cs.RO2024
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping
Zhicheng He, Jiayang Wu, Jingwen Zhang +6
Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to…