1 citations · 1 across the 8 of their papers we have counts for
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Design and Analysis of a Nonlinear Parallel Mechanism Coupling for Dynamic Humanoid Legs
Rohit Kumar, Heiner Peters, Felix Wiebe +5
Humanoids increasingly demand lightweight leg mechanisms for agile, dynamic, and energy-efficient locomotion. Reducing distal inertia through proximal actuation has thus become a c…
Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
Franek Stark, Felix Wiebe, Shubham Vyas +2
This paper presents a multi-phase whole-body model predictive control (MPC) approach for bipedal walking, combining a detailed whole-body model in the near horizon with a simplifie…
Mixed-Integer vs. Continuous Model Predictive Control for Binary Thrusters: A Comparative Study
Franek Stark, Jakob Middelberg, Shubham Vyas
Binary on/off thrusters are commonly used for spacecraft attitude and position control during proximity operations. However, their discrete nature poses challenges for conventional…