Name
Abstract | ||
|---|---|---|
The contribution of this work is to show that real-time nonlinear model predictive control (NMPC) can be implemented on position controlled humanoid robots. Following the idea of “walking without thinking,” we propose a walking pattern generator that takes into account simultaneously the position and orientation of the feet. A requirement for an application in real-world scenarios is the avoidance... |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/LRA.2016.2518739 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Legged locomotion,Real-time systems,Humanoid robots,Generators,Trajectory,Robot kinematics | Robot control,Digital pattern generator,Control theory,Simulation,Model predictive control,Robot kinematics,Control engineering,Regular polygon,Engineering,Center of mass,Trajectory,Humanoid robot | Journal |
Volume | Issue | ISSN |
2 | 1 | 2377-3766 |
Citations | PageRank | References |
22 | 0.88 | 15 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Maximilien Naveau | 1 | 44 | 4.45 |
| Manuel Kudruss | 2 | 26 | 2.05 |
| Olivier Stasse | 3 | 1438 | 85.86 |
| Christian Kirches | 4 | 250 | 17.01 |
| Katja D. Mombaur | 5 | 79 | 13.69 |
| Philippe Souères | 6 | 323 | 43.63 |