A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control
Software An initial implementation of this algorithm exists in python here: https://github.com/laas/nmpc_walkgen It was successfully used to pull a fire hoze. See the work of Ixchel Ramirez in ICHR-2016. A recent extension is including a model of human motion (see the scientific work in RAL-2021 ) can be found here: https://github.
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