This work presents a successful implementation of a nonlinear optimization-based
Regularized Predictive Control (RPC) for legged locomotion on the MIT Cheetah 3 robot …

Autonomous navigation in complex environments featuring obstacles, varying ground
compositions, and external disturbances requires real-time motion generation and …

Bipedal locomotion is a difficult control problem due to issues such as underactuation,
unilateral constraints and the hybrid nature of stepping. In this work, using the reduced …

A well known strategy in bipedal locomotion to prevent falling in the presence of large
disturbances is to modify drastically future motion. This is an important capability of a …

A type of trust region-sequential quadratic programming (TRSQP) approach with
superlinearly convergent property is first proposed, investigated, and implemented on …

Various constraints exist in bipedal movement. Due to the natural ability of effectively
handling constraints, trajectory optimization has become one of the mainstream methods in …

Traversing uneven terrain with unexpected changes in ground height still poses a major
challenge to walking stabilization of humanoid robots. A common approach to balance a …

Methods: An adaptive controller and a Proportional-Derivative (PD) controller have adjusted
the motor torque and stimulation intensity, respectively. The FES controller was activated …

This paper considers dynamic stepping of biped robots when walking through a big
obstacle, which is a great problem for these kinds of robots, using nonlinear model …

Biped locomotion provides more mobility and effectiveness compared with other methods.
Animals have evolved efficient walking patterns that are pursued by biped robot …