most citedBipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control

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cs.RO2025★ 1 cited

Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control

Yapeng Shi, Sishu Li, Yongqiang Wu +4

This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations…

cs.RO2024

CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping

Zhicheng He, Jiayang Wu, Jingwen Zhang +6

Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to…