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20152024
most citedBalancing and Walking Using Full Dynamics LQR Control With Contact Constraints

39 citations · 67 across the 31 of their papers we have counts for

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eess.SY2020

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance

Ahmad Gazar, Majid Khadiv, Andrea Del Prete +1

Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints sa…