Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels. - Jory Lafaye; David Gouaillier; Pierre-Brice Wieber (Humanoids, 2014)

Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot. - Jory Lafaye; Cyrille Collette; Pierre-Brice Wieber (ICRA, 2015)