19 citations · 58 across the 13 of their papers we have counts for
Showing 2017Show all
2 papers · 1 filter
cs.RO2017
Balance control using both ZMP and COM height variations: A convex boundedness approach
Stéphane Caron, Bastien Mallein
Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but onl…
cs.RO2017★ 3 cited
Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum
Stéphane Caron, Abderrahmane Kheddar
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they dep…