Kwanwoo Lee

Humanoid Walking Stabilization via Model Predictive Control with Step Adjustment Based on the 3D Divergent Component of Motion

In this paper, as an approach to stabilize humanoid walking where the height of CoM varies, a Novel Model Predictive Control framework based on three dimensional Divergent Component of Motion (3D-DCM) is proposed. To ensure the feasible utilization of contact forces for maintaining humanoid balance,