collaborators

1 paper

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…