2 papers
cs.RO2021
Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware
Yan Xie, Jiajun Wang, Hao Dong +3
Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks…
cs.RO2021
Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis
Yijie Guo, Mingwei Zhang, Hao Dong +1
The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems need…