@InProceedings{audren:iros:2014,
  author    = {Audren, Herv{\'e} and Vaillant, Joris and Kheddar, Abderrahmane and Escande, Adrien and Kaneko, Kenji and Yoshida, Eiichi},
  title     = {Model preview control in multi-contact motion -- Application to a humanoid robot},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year      = {2014},
  address   = {Chicago (IL), USA},
  month     = {September 14-September 18},
  url       = {https://staff.aist.go.jp/e.yoshida/papers/Audren\_iros2014.pdf},
  keywords  = {Trajectory, Computational modeling, Force, Dynamics, Legged locomotion, Timing},
  doi       = {10.1109/IROS.2014.6943129},
  abstract  = {Our work builds largely on Nagasaka\textquotesingle s stabilizer in multi-contact motion [1]. Using a sequence of contact stances from an offline multi-contact planner, we use first a Model Predictive Controller to generate a dynamic trajectory of the center of mass, then a whole-body closed-loop model-based controller to track it at best. Relatively to Nagasaka\textquotesingle s work, we allow frame changes of the preferred force, provide a heuristic to compute the timing of the transition from purely geometrical features and investigate the synchronization problem between the reduced-model preview control and the whole-body controller. Using our framework, we generate a wide range of 3D motions, while accounting for predictable external forces, which includes transporting objects. Simulation scenarios are presented and obtained results are analyzed and discussed.}
}