Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion

29 May 2025

Papers citing "Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion"

10 / 10 papers shown

Title
Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors Masaki Murooka Kensuke Fukumitsu Marwan Hamze Mitsuharu Morisawa Hiroshi Kaminaga F. Kanehiro Eiichi Yoshida 7 1 0 26 May 2025
Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context M. Benallegue Guillaume Lorthioir Antonin Dallard Rafael Cisneros-Limón Iori Kumagai ... A. Kheddar Soh Yukizaki Junichi Karasuyama Junichi Murakami Masayuki Kamon 75 1 0 17 Jan 2025
RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control S. Bang Carlos Arribalzaga Jové Luis Sentis 49 2 0 25 Jul 2024
Multi-Contact Whole-Body Force Control for Position-Controlled Robots Quentin Rouxel S. Ivaldi Jean-Baptiste Mouret 43 4 0 27 Dec 2023
Learning Bipedal Walking for Humanoids with Current Feedback R. P. Singh Zhaoming Xie P. Gergondet F. Kanehiro 56 29 0 07 Mar 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
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent Paarth Shah Avadesh Meduri W. Merkt Majid Khadiv Ioannis Havoutis Ludovic Righetti 44 7 0 04 Aug 2021
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control Carlos Mastalli Rohan Budhiraja W. Merkt Guilhem Saurel Bilal Hammoud M. Naveau Justin Carpentier Ludovic Righetti S. Vijayakumar Nicolas Mansard 45 292 0 11 Sep 2019
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control Stéphane Caron A. Kheddar Olivier Tempier 32 132 0 19 Sep 2018
Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations Stéphane Caron A. Kheddar 23 68 0 29 Jul 2016