Geometry-Aware Predictive Control for Walk-to-Run Bipedal Obstacle Crossing
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초록 발췌
This paper presents a geometry-aware predictive control framework for bipedal obstacle crossing across walking and running regimes. The proposed approach integrates a phase-structured trajectory generator with a constrained model predictive control (MPC) tracking layer to generate coordinated pelvis and swing-foot motions during obstacle traversal.
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