Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies
Jiatao Ding Songyan Xin Tin Lun Lam Sethu Vijayakumar Jiatao Ding Songyan Xin Tin Lun Lam Sethu Vijayakumar
Stable walking in real-world environments is a challenging task for humanoid robots, especially when considering the dynamic disturbances, e.g., caused by external perturbations that may be encountered during locomotion. The varying nature of disturbance necessitates high adaptability. In this paper, we propose an enhanced Nonlinear Model Predictive Control (NMPC) approach for robust and adaptable...