Concepedia

Model Predictive Footstep Planning

Model Predictive Footstep Planning is a footstep planning method that belongs to the class of model predictive control techniques and is distinguished by its use of dynamic system models to iteratively optimize future footstep sequences over a receding horizon while respecting physical and kinematic constraints.

6

Publications

172

Citations

18

Authors

10

Institutions

Publications per year

2017–2026

4

Parents

Publications

6

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Guiyang Xin, Songyan Xin, Oğuzhan Cebe et al. · IEEE Robotics and Automation Letters · 2021 · 41 citations · Full text

, , +17

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Salman Faraji, Soha Pouya, Auke Jan Ijspeert · 2014 · 37 citations · Full text

, , +17

Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control

Songyan Xin, Romeo Orsolino, Nikos G. Tsagarakis · 2019 · 36 citations

, , +17

An MPC Walking Framework With External Contact Forces

MPG.PuRe (Max Planck Society) · 2018 · 24 citations

, , +17

An MPC Walking Framework with External Contact Forces

2018 · 18 citations · Full text

, , +17

1–5 of 6

Authors

18

  1. SX
    Songyan Xin

    University of Edinburgh, United Kingdom

    2 publications · 77 citations

    2

    h-index

  2. MJ
    Mathew Jose Pollayil

    Piaggio (Italy), Italy

    1 publications · 41 citations

    1

    h-index

  3. OC
    Oğuzhan Cebe

    University of Edinburgh, United Kingdom

    1 publications · 41 citations

    1

    h-index

  4. SP
    Soha Pouya

    École Polytechnique Fédérale de Lausanne, Switzerland

    1 publications · 37 citations

    1

    h-index

  5. AH
    Arne-Christoph Hildebrandt

    Technical University of Munich, Germany

    1 publications · 16 citations

    1

    h-index

1–5 of 18

Institutions

10

  1. University of Pisa

    Pisa, Italy

    1 h-index

    3 publications

    123 citations

  2. University of Edinburgh

    Edinburgh, United Kingdom

    1 h-index

    5 publications

    205 citations

  3. Stanford University

    Stanford, United States

    1 h-index

    2 publications

    74 citations

  4. University of Southern California

    Los Angeles, United States

    1 h-index

    3 publications

    54 citations

  5. École Polytechnique

    Palaiseau, France

    1 h-index

    2 publications

    74 citations

  6. New York University

    New York, United States

    1 h-index

    1 publications

    18 citations

  7. Federal Supreme Court of Switzerland

    Lausanne, Switzerland

    1 h-index

    1 publications

    37 citations

  8. Italian Institute of Technology

    Genoa, Italy

    1 h-index

    3 publications

    108 citations

1–8 of 10

Venues

  1. IEEE Robotics and Automation Letters

    1 publications · 41 citations

    1

    h-index

  2. MPG.PuRe (Max Planck Society)

    Repository · 1 publications · 24 citations

    1

    h-index

1–2