MPC for Humanoid Gait Generation: Stability and Feasibility.

Nicola Scianca Daniele De Simone Leonardo Lanari Giuseppe Oriolo

Published in: IEEE Trans. Robotics (2020)

Keyphrases

motion capture
gait recognition
walking speed
humanoid robot
generation method
gait analysis
closed loop
stability analysis
human identification
asymptotic stability
human gait recognition
case study
biped robot
limit cycle
human recognition
human gait
dynamic model
degrees of freedom
feature space