A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies

A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies

25 July 2023

Papers citing "A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies"

14 / 14 papers shown

Title
Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method Junhyung Kim Hokyun Lee Jaeheung Park AI4CE 24 0 0 26 May 2025
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models Lizhi Yang Blake Werner Adrian B.Ghansah Aaron D. Ames 32 0 0 16 May 2025
Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection Woohyun Cha Junhyeok Cha Jaeyong Shin Donghyeon Kim Jaeheung Park 45 0 0 09 Apr 2025
Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control Junheng Li Zhanhao Le Junchao Ma Quan Nguyen 35 1 0 22 Sep 2024
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation Daegyu Lim Myeong-Ju Kim Junhyeok Cha Jaeheung Park 57 1 0 17 Feb 2024
ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton based on Stepping Strategy Zeynep Ozge Orhan M. Shafiee Vincent Juillard Joel Coelho Oliveira A. Ijspeert Mohamed Bouri 36 2 0 31 Oct 2023
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment Giulio Romualdi Stefano Dafarra Giuseppe L’Erario Ines Sorrentino Silvio Traversaro Daniele Pucci 84 43 0 09 Mar 2022
MPC for Humanoid Gait Generation: Stability and Feasibility Nicola Scianca Daniele De Simone L. Lanari G. Oriolo 36 102 0 24 Jan 2019
A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion Fatemeh Nazemi A. Yousefi-Koma F. A. Shirazi Majid Khadiv 24 10 0 24 Oct 2017
Walking Control Based on Step Timing Adaptation Majid Khadiv Alexander Herzog S. A. A. Moosavian Ludovic Righetti 24 70 0 05 Apr 2017
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas Robert J. Griffin Georg Wiedebach Sylvain Bertrand Alexander Leonessa J. Pratt 42 99 0 01 Mar 2017
Robust Bipedal Locomotion Control Based on Model Predictive Control and Divergent Component of Motion M. Shafiee-Ashtiani A. Yousefi-Koma M. Panahi 27 53 0 28 Feb 2017
Step Timing Adjustment: A Step toward Generating Robust Gaits Majid Khadiv Alexander Herzog A. Moosavian Ludovic Righetti 30 70 0 07 Oct 2016
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas Georg Wiedebach Sylvain Bertrand Tingfan Wu Luca Fiorio Stephen McCrory Robert Griffin F. Nori J. Pratt 27 77 0 27 Jul 2016