Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model
and Model Predictive Control

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Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control

IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023

5 July 2023

Oluwami Dosunmu-Ogunbi

Aayush Shrivastava

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Papers citing "Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control"

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Title
Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Adrian B. Ghansah Sergio A. Esteban Aaron D. Ames 88 1 0 05 Sep 2025
Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive ControlAmerican Control Conference (ACC), 2025 Min Dai Aaron D. Ames 161 1 0 25 Apr 2025
Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control Yapeng Shi Sishu Li Yongqiang Wu Junjie Liu Xiaokun Leng Xizhe Zang Songhao Piao 156 1 0 03 Apr 2025
Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical MotionAmerican Control Conference (ACC), 2024 Jacob Stewart I-Chia Chang Yan Gu Petros A. Ioannou 81 0 0 15 Oct 2024
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments Oluwami Dosunmu-Ogunbi Aayushi Shrivastava J. Grizzle 145 0 0 04 Mar 2024
Bipedal Walking on Constrained Footholds with MPC Footstep ControlIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023 Brian Acosta Michael Posa 197 16 0 14 Sep 2023
Design and Control of a Bio-inspired Wheeled Bipedal RobotIEEE/ASME transactions on mechatronics (IEEE/ASME Trans. Mechatronics), 2023 Hai Zhao Leitao Yu S. Qin Yurui Jin Yuqing Chen 179 8 0 25 Aug 2023