A Whole-Body Model Predictive Control Scheme Including External Contact Forces 
and CoM Height Variations

Mirjalili , R.; Yousefi-Korna, A.; Shirazi, F.A.; Nikkhah, A.; Nazemi, F.; Khadiv, M.

doi:10.1109/HUMANOIDS.2018.8624963

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A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations

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Khadiv, M.
Research Group Movement Generation and Control, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Mirjalili, R., Yousefi-Korna, A., Shirazi, F., Nikkhah, A., Nazemi, F., & Khadiv, M. (2018). A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018) (pp. 126-131). Piscataway, NJ: IEEE. doi:10.1109/HUMANOIDS.2018.8624963.

Cite as: https://hdl.handle.net/21.11116/0000-0003-BDCB-4

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