A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot

@article{Dafarra2017ARH,
  title={A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot},
  author={Stefano Dafarra and Francesco Romano and Francesco Nori},
  journal={ArXiv},
  year={2017},
  volume={abs/1705.10638}
}
Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a momentum-based torque controller and we implemented and validated it on the iCub humanoid robot. In this work we implement a Receding Horizon control, also known as Model Predictive Control, to add the possibility to predict the future evolution of the robot, especially the constraints switching given by the hybrid… 
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