A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing Via Ankle, Hip, and Stepping Strategies

作者：Myeong-Ju Kim, Daegyu Lim, Gyeongjae Park, Kwanwoo Lee, Jaeheung Park · 机构：Department of Intelligence and Information, Seoul National University, Seoul, South Korea; Advanced Institutes of Convergence Technology, Seoul, South Korea; ASRI, AIIS, Seoul National University, Seoul, South Korea

会议/期刊：IEEE Transactions on Robotics · 发布日期：2025 · 页码：3297-3316