A unified MPC using an augmented LIP model with ZMP dynamics enables a simulated Cassie biped to recover from large frontal and lateral pushes by simultaneously adjusting foot placement, step timing, and ankle effort.
Dynamic Walking: Toward Agile and Efficient Bipedal Robots,
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Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control
A unified MPC using an augmented LIP model with ZMP dynamics enables a simulated Cassie biped to recover from large frontal and lateral pushes by simultaneously adjusting foot placement, step timing, and ankle effort.