English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this paper we consider the problem of allowing a humanoid robot that issubject to a persistent disturbance, in the form of a payload-carrying task, tofollow given planned footsteps. To solve this problem, we combine an onlinenonlinear centroidal Model Predictive Controller - MPC with a contact stableforce parametrization. The cost function of the MPC is augmented with termshandling the disturbance and regularizing the parameter. The performance of theresulting controller is validated both in simulations and on the humanoid robotiCub. Finally, the effect of using the parametrization on the computationaltime of the controller is briefly studied.

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization