In this article, we present an intrinsically stable Model Predictive Control (IS-MPC)
framework for humanoid gait generation that incorporates a stability constraint in the …

We present a real time algorithm for humanoid 3D walking and/or running based on a Model
Predictive Control (MPC) approach. The objective is to generate a stable gait that replicates …

Legged robots must contend with challenges like load fluctuations, external forces, and
modeling errors in their working environment, all of which can lead to inaccuracies in the …

Tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the
divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case …

Legged robots are better able to adapt to different terrains compared with wheeled robots.
However, traditional motion controllers suffer from extremely complex dynamics properties …

The feasibility region of a Model Predictive Control (MPC) algorithm is the subset of the state
space in which the constrained optimization problem to be solved is feasible. In our recent …

It is common knowledge that tractor-trailer vehicles are affected by jackknifing, a
phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes …

This paper addresses the problem of transporting a rigid box filled with unknown objects
with a dual-arm robotic system. Enforcing non-sliding contact behavior, which guarantees …

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 …

In this paper we consider the problem of allowing a humanoid robot that is subject to a
persistent disturbance, in the form of a payload-carrying task, to follow given planned …