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Ding, J. (author), Han, Linyan (author), Ge, Ligang (author), Liu, Yizhang (author), Pang, Jianxin (author)Robust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based...journal article 2022
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Han, Y. (author), Hegyi, A. (author), Yuan, Y. (author), Roncoli, Claudio (author), Hoogendoorn, S.P. (author)This paper extends an existing linear quadratic model predictive control (LQMPC) approach to multi-destination traffic networks, where the correct origin-destination (OD) relations are preserved. In the literature, the LQMPC approach has been presented for efficient routing and intersection signal control. The optimization problem in the...journal article 2018