Milad Shafiee-Ashtiani

Robust bipedal locomotion control based on model predictive control and divergent component of motion

In this paper, previous works on the Model Predictive Control (MPC) and the Divergent Component of Motion (DCM) for bipedal walking control are extended. To this end, we employ a single MPC which uses a combination of Center of Pressure (CoP) manipulation, step adjustment, and Centroidal Moment Pivo…