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20232026
most citedA Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies

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cs.RO2025

Phase-based Nonlinear Model Predictive Control for Humanoid Walking Stabilization with Single and Double Support Time Adjustments

Kwanwoo Lee, Gyeongjae Park, Myeong-Ju Kim +1

The contact sequence of humanoid walking consists of single and double support phases (SSP and DSP), and their coordination through proper duration and dynamic transition based on…