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We present IS-MPC, an intrinsically stable MPC framework for humanoid gait generation which incorporates an explicit stability constraint in the formulation.
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2017
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M. Ciocca, P.-B. Wieber, and T. Fraichard, “Strong recursive feasibility in model predictive control of biped walking,” in 17th IEEE-RAS Int. Conf. on Humanoid Robots , 2017, pp. 730–735
2017
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A. Tanguy, D. De Simone, A. I. Comport, G. Oriolo, and A. Kheddar, “Closed-loop MPC with dense visual SLAM-stability through reactive stepping,” in 2019 IEEE Int. Conf. on Robotics and Automation , 2019, pp. 1397–1403
2019
Closest in time.
F. M. Smaldone, N. Scianca, V. Modugno, L. Lanari, and G. Oriolo, “Gait generation using intrinsically stable MPC in the presence of persistent disturbances,” in 19th IEEE-RAS Int. Conf. on Humanoid Robots , 2019, pp. 682–687
2019
Closest in time.
P. Ferrari, N. Scianca, L. Lanari, and G. Oriolo, “An integrated motion planner/controller for humanoid robots on uneven ground,” in 18th European Control Conf. , 2019, pp. 1598–1603
2019
Closest in time.