269 citations · 334 across the 5 of their papers we have counts for
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cs.RO2017★ 20 cited
An MPC Walking Framework With External Contact Forces
Sean Mason, Nicholas Rotella, Stefan Schaal +1
In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and t…
cs.RO2017★ 39 cited
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints
Sean Mason, Nicholas Rotella, Stefan Schaal +1
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algori…