Robust walking based on MPC with viability guarantees

Yeganegi, Mohammad Hasan; Khadiv, Majid; Prete, Andrea del; Moosavian, S. Ali A.; Righetti, Ludovic

doi:10.1109/TRO.2021.3127388

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Robust walking based on MPC with viability guarantees

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Yeganegi, Mohammad Hasan
Dept. Empirical Inference, 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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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/TRO.2021.3127388
(Publisher version)

https://doi.org/10.48550/arXiv.2010.04514
(Preprint)

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Yeganegi, M. H., Khadiv, M., Prete, A. d., Moosavian, S. A. A., & Righetti, L. (2022). Robust walking based on MPC with viability guarantees. IEEE Transactions on Robotics, 38(4), 2389-2404. doi:10.1109/TRO.2021.3127388.

Cite as: https://hdl.handle.net/21.11116/0000-000D-D4D2-6

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