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YouTubeShubham Kumbhar
Finite-step Capturability and Recursive Feasibility for Bipedal Walking in Constrained Regions
In this work we present a Model Predictive Control (MPC) formulation for bipedal footstep planning based on the Linear Inverted Pendulum (LIP) model, ensuring recursive feasibility when navigating restricted regions. The proposed approach incorporates capturability and introduces a new constraint that forces the ...
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