Elham Daneshmand

Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control

In this letter, we present a novel two-level variable Horizon Model Predictive Control (VH-MPC) framework for bipedal locomotion. In this framework, the higher level computes the landing location and timing (horizon length) of the swing foot to stabilize the unstable part of the center of mass (CoM)