collaborators

1 paper

cs.RO2018

A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations

Reihaneh Mirjalili, Aghil Yousefi-koma, Farzad A. Shirazi +3

In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for wal…