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Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations

Sait Sovukluk, Christian Ott 0001, M. Mert Ankarali. Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations. In 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, Austin, TX, USA, December 12-14, 2023. pages 1-8, IEEE, 2023. [doi]

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Sait Sovukluk

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Christian Ott 0001

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M. Mert Ankarali

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