Cover Image

Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Chen, Kuo, Huang, Xinyan, Chen, Xunjie, Yi, Jingang
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Bipedal-Walking-Dynamics Model on Granular Terrains
by: Chen, Xunjie, et al.
Published: (2026)

A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains
by: Chen, Xunjie, et al.
Published: (2026)

Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains
by: Chen, Xunjie, et al.
Published: (2024)

Biomechanical Comparison of Human Walking Locomotion on Solid Ground and Sand
by: Zhu, Chunchu, et al.
Published: (2024)

Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion
by: Chen, Yu-Ming, et al.
Published: (2023)

A Reduced-Order Resistive Force Model for Robotic Foot-Mud Interactions
by: Chen, Xunjie, et al.
Published: (2024)

Assistive Control of Knee Exoskeletons for Human Walking on Granular Terrains
by: Zhu, Chunchu, et al.
Published: (2024)

Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control
by: Dosunmu-Ogunbi, Oluwami, et al.
Published: (2023)

Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
by: Gu, Zhaoyuan, et al.
Published: (2024)

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
by: Kamohara, Junnosuke, et al.
Published: (2025)

Descriptive Model-based Learning and Control for Bipedal Locomotion
by: Kumar, Suraj, et al.
Published: (2025)

The Strange Attractor Model of Bipedal Locomotion and its Consequences on Motor Control
by: Tiseo, Carlo, et al.
Published: (2018)

Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
by: Ding, Jiatao, et al.
Published: (2019)

Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method
by: Kim, Junhyung, et al.
Published: (2025)

Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains
by: Maslennikov, Egor, et al.
Published: (2025)

The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
by: Xia, Boxi, et al.
Published: (2024)

Capture Point Control in Thruster-Assisted Bipedal Locomotion
by: Pitroda, Shreyansh, et al.
Published: (2024)

LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
by: Su, Haokai, et al.
Published: (2025)

Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers
by: Bang, Seung Hyeon, et al.
Published: (2024)

Learning Vision-Based Bipedal Locomotion for Challenging Terrain
by: Duan, Helei, et al.
Published: (2023)

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
by: Li, Zhongyu, et al.
Published: (2024)

RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
by: Dai, Min, et al.
Published: (2025)

RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
by: Bang, Seung Hyeon, et al.
Published: (2024)

Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
by: Bao, Lingfan, et al.
Published: (2024)

Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotion
by: Bao, Lingfan, et al.
Published: (2025)

VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots
by: Chen, Fu, et al.
Published: (2025)

Heuristic Step Planning for Learning Dynamic Bipedal Locomotion: A Comparative Study of Model-Based and Model-Free Approaches
by: Suliman, William, et al.
Published: (2025)

Flexible Locomotion Learning with Diffusion Model Predictive Control
by: Huang, Runhan, et al.
Published: (2025)

Human Imitated Bipedal Locomotion with Frequency Based Gait Generator Network
by: Ates, Yusuf Baran, et al.
Published: (2025)

Safe Navigation of Bipedal Robots via Koopman Operator-Based Model Predictive Control
by: Kim, Jeonghwan, et al.
Published: (2024)

Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer
by: Chen, Qianzhong, et al.
Published: (2024)

TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact
by: Kawaharazuka, Kento, et al.
Published: (2024)

Optimizing Design and Control of Running Robots Abstracted as Torque Driven Spring Loaded Inverted Pendulum (TD-SLIP)
by: Truax, Reed, et al.
Published: (2024)

Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
by: Castillo, Guillermo A., et al.
Published: (2025)

Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation
by: Shamsah, Abdulaziz, et al.
Published: (2024)

Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control
by: Shamsah, Abdulaziz, et al.
Published: (2024)

Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
by: Pitroda, Shreyansh, et al.
Published: (2024)

Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
by: Katayama, Sotaro, et al.
Published: (2025)

Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot
by: Roux, Constant, et al.
Published: (2025)

Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum
by: Burchard, Blanka, et al.
Published: (2025)