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.
Trajectory free linear model predictive control for stable walking in the presence of strong perturbations,
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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.