2017
A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control
Maximilien Naveau, Manuel Kudruss, Olivier Stasse, Christian Kirches, Katja D. Mombaur, Philippe Souères
RA-L 2017
The contribution of this work is to show that real-time nonlinear model predictive control (NMPC) can be implemented on position controlled humanoid robots. Following the idea of “walking without thinking,” we propose a walking pattern generator that takes into account simultaneously the position an