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MPC based Biped Walking Generation using Automatic Foot Placements


A. Rezaeizadeh

Master Thesis, FS 12 (10222)

In this project, we investigate the walking of a biped robot whose motion is based on Linear Model Predictive Control. The approach is mainly to introduce a convex optimization problem that performs target tracking with automatic foot placement and orientation planning such that the physical constraints of the robot are not violated.


Type of Publication:

(12)Diploma/Master Thesis

R. Nguyen

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2013:IFA_4363
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