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.
Biped walking pattern generation by using preview control of zero-moment point,
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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.