Online Walking Motion Generation with Automatic Footstep Placement

379 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

Models, feedback control, and open problems of 3D bipedal robotic walking (2014, methodology): “Modern methods have achieved improved control by formulating the control problem as a quadratic program (QP), allowing gait replanning on the y and improving stability properties ([99, 198, 68]).”
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot (2015, background): “convex optimization to plan footstep positions and a centerof-mass trajectory, using linear constraints on the distance from one foot to the next to represent the robot’s reachable set (Herdt et al. 2010).”
Higher order event capturing time-stepping schemes for nonsmooth multibody systems with unilateral constraints and impacts (2012, neutral): “The rigid multibody systems in circuit breakers [1], robotic and control applications [5,21], transport applications [16] are the favorite ones.”
Footstep planning on uneven terrain with mixed-integer convex optimization (2014, background): “This approach has been successfully in convex optimization without rotations [15], but it produces non-convex constraints when rotations are introduced.”