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Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear Model Predictive Control.
Yanran Ding
Charles Khazoom
Matthew Chignoli
Sangbae Kim
Published in:
CoRR (2022)
Keyphrases
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humanoid robot
model predictive control
motion planning
multi modal
human robot interaction
human motion
rough terrain
reinforcement learning
dynamic environments
human robot
degrees of freedom
closed form solutions
predictive control