2 papers
cs.RO2021
A unified framework for walking and running of bipedal robots
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti +1
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) hei…
cs.RO2020
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control
Elham Daneshmand, Majid Khadiv, Felix Grimminger +1
In this paper, we present a novel two-level variable Horizon Model Predictive Control (VH-MPC) framework for bipedal locomotion. In this framework, the higher level computes the la…