An MPC Walking Framework With External Contact Forces

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A. Herdt, H. Diedam, P.-B. Wieber, D. Dimitrov, K. Mombaur, and M. Diehl, “Online Walking Motion Generation with Automatic Foot Step Placement,” ser. Special Issue: Section Focused on Cutting Edge of Robotics in Japan 2010, vol. 24, no. 5-6. Taylor & Francis, 2010, pp. 719–737. [Online]. Available: https://hal.inria.fr/inria-00391408

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M. A. Hopkins, D. W. Hong, and A. Leonessa, “Humanoid locomotion on uneven terrain using the time-varying divergent component of motion,” IEEE-RAS International Conference on Humanoid Robots , vol. 2015-Febru, pp. 266–272, 2015

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N. Rotella, A. Herzog, S. Schaal, and L. Righetti, “Humanoid momentum estimation using sensed contact wrenches,” in 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) , Nov 2015, pp. 556–563

2015

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M. Khadiv, A. Herzog, S. A. a. Moosavian, and L. Righetti, “Step Timing Adjustment : A Step toward Generating Robust Gaits *,” 2016

2016

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M. R. O. A. Maximo, C. H. C. Ribeiro, and R. J. M. Afonso, “Mixed-Integer Programming for Automatic Walking Step Duration,” no. 3, pp. 5399–5404, 2016

2016

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D. J. Agravante, A. Sherikov, P. B. Wieber, A. Cherubini, and A. Kheddar, “Walking pattern generators designed for physical collaboration,” in 2016 IEEE International Conference on Robotics and Automation (ICRA) , May 2016, pp. 1573–1578

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A. Herzog, N. Rotella, S. Mason, F. Grimminger, S. Schaal, and L. Righetti, “Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid,” Autonomous Robots , vol. 40, no. 3, pp. 473–491, Mar. 2016

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S. Caron and Q. C. Pham, “When to make a step? tackling the timing problem in multi-contact locomotion by topp-mpc,” in 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) , Nov 2017, pp. 522–528

2017

Closest in time.