"Walking"

C-CROC: Continuous and Convex Resolution of Centroidal dynamic trajectories for legged robots in multi-contact scenarios

1 janvier 2020
Par
"motion planning", "centroidal dynamics", "walking", "multi contacts"

Humanoid walking pattern generation based on model predictive control approximated with basis functions

1 janvier 2019
Par
"walking", "centroidal dynamics", "basis functions"

Benchmarking the HRP-2 humanoid robot during locomotion

1 janvier 2018
Par
"centroidal dynamics", "walking", "benchmarking"

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.