2 papers
cs.RO2018
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations
Reihaneh Mirjalili, Aghil Yousefi-koma, Farzad A. Shirazi +3
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for wal…
cs.RO2017
Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control
Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Reihaneh Mirjalili +2
In this paper, a combination of ankle and hip strategy is used for push recovery of a position-controlled humanoid robot. Ankle strategy and hip strategy are equivalent to Center o…