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This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online.
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A. G. Pandala, Y. Ding, and H.-W. Park, “qpSWIFT: A real-time sparse quadratic program solver for robotic applications,” IEEE Robot. Automat. Lett. (RA-L) , vol. 4, no. 4, pp. 3355–3362, 2019
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M. Khadiv, A. Herzog, S. A. A. Moosavian, and L. Righetti, “Walking control based on step timing adaptation,” IEEE Trans. Robot. (T-RO) , vol. 36, no. 3, pp. 629–643, 2020
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2015
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S. Caron, Q.-C. Pham, and Y. Nakamura, “Stability of surface contacts for humanoid robots: Closed-form formulae of the contact wrench cone for rectangular support areas,” in Proc. IEEE Int. Conf. Robot. Automat. (ICRA) , 2015, pp. 5107–5112
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S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, and R. Tedrake, “Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot,” Autonomous robots , vol. 40, no. 3, pp. 429–455, 2016
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2017
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R. J. Griffin, G. Wiedebach, S. Bertrand, A. Leonessa, and J. Pratt, “Walking stabilization using step timing and location adjustment on the humanoid robot, atlas,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2017, pp. 667–673
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Y. Gong and J. Grizzle, “One-step ahead prediction of angular momentum about the contact point for control of bipedal locomotion: Validation in a lip-inspired controller,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2021, pp. 2832–2838
2021
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G. García, R. Griffin, and J. Pratt, “MPC-based locomotion control of bipedal robots with line-feet contact using centroidal dynamics.” in Proc. IEEE/RAS Int. Conf. Humanoid Robot. (Humanoids) . IEEE, 2021, pp. 276–282
2021
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M. Chignoli, D. Kim, E. Stanger-Jones, and S. Kim, “The MIT humanoid robot: Design, motion planning, and control for acrobatic behaviors,” in Proc. IEEE/RAS Int. Conf. Humanoid Robot. (Humanoids) , 2021
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Y. Ding, A. Pandala, C. Li, Y.-H. Shin, and H.-W. Park, “Representation-free model predictive control for dynamic motions in quadrupeds,” IEEE Trans. Robot. (T-RO) , vol. 37, no. 4, pp. 1154–1171, 2021
2021
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X. Xiong, Y. Chen, and A. D. Ames, “Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation,” in 2021 60th IEEE Conference on Decision and Control (CDC) . IEEE, 2021, pp. 697–704
2021
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X. Xiong and A. Ames, “3-d underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization,” IEEE Transactions on Robotics , 2022
2022
Closest in time.
G. Romualdi, S. Dafarra, G. L’Erario, I. Sorrentino, S. Traversaro, and D. Pucci, “Online non-linear centroidal mpc for humanoid robot locomotion with step adjustment,” arXiv e-prints , pp. arXiv–2203, 2022
2022
Closest in time.