A sparse model predictive control formulation for walking motion generation

Generated gait pattern from CoM velocity tracking for different objective weights in a push recovery scenario — solid: average foot velocity during single support.. the BoS as

The standard walking motion generation scheme of the Kawada HRP-2 robot has been the first one to implement the other approach, without terminal con- straints, and based instead on

Induction magnétique Coeff de bobinage du premier harmonique relatif à l’enroulement de l’inducteur Induction dans l'entrefer Induction magnétique de l’aimant Niveau bas des

Therefore, all robots are continuously combining the task of path following with collision avoidance under detailed differential constraints on the local real-time motion

Laurent, On nonlinear distributed parameter model predictive control strategy: On-line calculation time reduction and application to an experimental drying process, Computers

The path following problem of the single robot 1 under consideration is depicted in Figure 2 and describes the task to follow the given path currently defined by the two waypoints rrr

We will further study the modelling and control of a passive body directly controlled by thrusters and then analyse the problem of manipulation of a passive object with two

Before implementing the algorithm described in this pub- lication, the computation of our LMPC scheme relied on QL [7], a state of the art QP solver implementing a dual active