An Improved Hierarchical Optimization Framework for Walking Control of Underactuated Humanoid Robots Using Model Predictive Control and Whole Body Planner and Controller

An Improved Hierarchical Optimization Framework for Walking Control of Underactuated Humanoid Robots Using Model Predictive Control and Whole Body Planner and Controller

This paper addresses the fundamental challenge of achieving stable and efficient walking in a lightweight, underactuated humanoid robot that lacks an ankle roll degree of freedom. To tackle this relevant critical problem, we present a hierarchical optimization framework that combines model predictiv...

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Bibliographic Details
Main Authors: Yuanji Liu, Haiming Mou, Hao Jiang, Qingdu Li, Jianwei Zhang
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Mathematics
Subjects:
hierarchical optimization
underactuated lightweight robot
matrix exponential method
whole body control
contact wrench cone constraints
Online Access:https://www.mdpi.com/2227-7390/13/1/154
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