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The robust balancing capability of humanoids is essential for mobility in real environments.
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2012
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2015
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H.-M. Joe and J.-H. Oh, “A robust balance-control framework for the terrain-blind bipedal walking of a humanoid robot on unknown and uneven terrain,” Sensors , vol. 19, no. 19, p. 4194, 2019
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B. Park, M.-J. Kim, E. Sung, J. Kim, and J. Park, “Whole-body walking pattern using pelvis-rotation for long stride and arm swing for yaw angular momentum compensation,” in 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) . IEEE, 2021, pp. 47–52
2021
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M.-J. Kim, D. Lim, G. Park, and J. Park, “Humanoid balance control using centroidal angular momentum based on hierarchical quadratic programming,” in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2022, pp. 6753–6760
2022
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2022
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J. Ding, L. Han, L. Ge, Y. Liu, and J. Pang, “Robust locomotion exploiting multiple balance strategies: An observer-based cascaded model predictive control approach,” IEEE/ASME Transactions on Mechatronics , vol. 27, no. 4, pp. 2089–2097, 2022
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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,” in 2022 International Conference on Robotics and Automation (ICRA) . IEEE, 2022, pp. 10 412–10 419
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M.-J. Kim, D. Lim, G. Park, and J. Park, “Foot stepping algorithm of humanoids with double support time adjustment based on capture point control,” in 2023 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2023, pp. 12 198–12 204
2023
Closest in time.
J. Choe, J.-H. Kim, S. Hong, J. Lee, and H.-W. Park, “Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control,” IEEE Robotics and Automation Letters , pp. 1–8, 2023
2023
Closest in time.