A Reactive Planning and Control Framework for Humanoid Robot Locomotion

A Reactive Planning and Control Framework for Humanoid Robot Locomotion

This article presents a reactive planning and control framework to enhance the robustness of humanoid robots locomotion against external disturbances. The framework comprises two main modules, reactive planning and motion optimization. In the reactive planning module, a reactive footstep compensatio...

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Bibliographic Details
Main Authors: Lichao Qiao, Yuwang Liu, Chunjiang Fu, Ligang Ge, Yibin Li, Xuewen Rong, Teng Chen, Guoteng Zhang
Format: Article
Language:English
Published: Wiley 2024-12-01
Series:Advanced Intelligent Systems
Subjects:
capture point constraints
disturbance recoveries
footstep compensations
humanoid robots
model predictive controls
Online Access:https://doi.org/10.1002/aisy.202400263
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