ZMP Constraint Restriction for Robust Gait Generation in Humanoids
Filippo M. Smaldone,Nicola Scianca,Valerio Modugno,Leonardo Lanari,Giuseppe Oriolo,Filippo M. Smaldone,Nicola Scianca,Valerio Modugno,Leonardo Lanari,Giuseppe Oriolo
We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of disturbances. The considered disturbance signals vary in a range of known amplitude around a mid-range value that can change at each sampling time, but whose current value is assumed to be available. The method consists in modifying the stability co...
