Extends IS-MPC with a disturbance observer to maintain CoM-ZMP boundedness under persistent disturbances, validated via LIP model and NAO robot simulations in MATLAB and DART.
Observer-based dynamic walking control for biped robots,
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Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances
Extends IS-MPC with a disturbance observer to maintain CoM-ZMP boundedness under persistent disturbances, validated via LIP model and NAO robot simulations in MATLAB and DART.