19 citations · 58 across the 13 of their papers we have counts for
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cs.RO2016★ 1 cited
When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC
Stéphane Caron, Quang-Cuong Pham
We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature…
cs.RO2016★ 9 cited
Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations
Stéphane Caron, Abderrahmane Kheddar
We present a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the…