2 papers
eess.SY2020
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance
Ahmad Gazar, Majid Khadiv, Andrea Del Prete +1
Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints sa…
cs.RO2019
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback
Ahmad Gazar, Gabriele Nava, Francisco Javier Andrade Chavez +1
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP ba…