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
A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion
Fatemeh Nazemi, Aghil Yousefi-koma, Farzad A. shirazi +1
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing a…