An Improved Hierarchical Optimization Framework for Walking Control of Underactuated Humanoid Robots Using Model Predictive Control and Whole Body Planner and Controller
This paper addresses the fundamental challenge of achieving stable and efficient walking in a lightweight, underactuated humanoid robot that lacks an ankle roll degree of freedom. To tackle this relevant critical problem, we present a hierarchical optimization framework that combines model predictiv...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/13/1/154 |
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