Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …

Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …

The upcoming generation of humanoid robots will have to be equipped with state-of-the-art
technical features along with high industrial quality, but they should also offer the prospect of …

We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion
planning of legged robots. The proposed approach uses a constrained optimal control …

In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …

In this article, we present an intrinsically stable Model Predictive Control (IS-MPC)
framework for humanoid gait generation that incorporates a stability constraint in the …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

In this letter, we present qpSWIFT, a real-time quadratic program (QP) solver. Motivated by
the need for a robust embedded QP solver in robotic applications, qpSWIFT employs …

As the study of humanoid robots becomes a world-wide interdisciplinary research field, the
demand for a cost-effective bipedal robot system capable of dynamic behaviors is growing …

While humans are highly capable of recovering from external disturbances and uncertainties
that result in large tracking errors, humanoid robots have yet to reliably mimic this level of …