model predictive control

Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains …
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Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds