Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control

Daneshmand , Elham; Khadiv, Majid; Grimminger, Felix; Righetti, Ludovic

doi:10.1109/LRA.2021.3061381

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Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control

MPS-Authors

Daneshmand , Elham
Research Group Movement Generation and Control, Max Planck Institute for Intelligent Systems, Max Planck Society;

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

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Grimminger, Felix
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Righetti, Ludovic
Research Group Movement Generation and Control, Max Planck Institute for Intelligent Systems, Max Planck Society;

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https://doi.org/10.1109/LRA.2021.3061381
(Publisher version)

https://doi.org/10.48550/arXiv.2010.08198
(Preprint)

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Citation

Daneshmand, E., Khadiv, M., Grimminger, F., & Righetti, L. (2021). Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control. IEEE Robotics and Automation Letters, 6(2), 2349-2356. doi:10.1109/LRA.2021.3061381.

Cite as: https://hdl.handle.net/21.11116/0000-000F-E2EF-5

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