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A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation

Diana Serra, Camille Brasseur, Alexander Sherikov, Dimitar Dimitrov, Pierre-Brice Wieber. A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation. In 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, November 15-17, 2016. pages 932-937, IEEE, 2016. [doi]

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Diana Serra

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Camille Brasseur

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Alexander Sherikov

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Dimitar Dimitrov

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Pierre-Brice Wieber

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