Whole-Body MPC for a Dynamically Stable Mobile Manipulator

Whole-Body MPC for a Dynamically Stable Mobile Manipulator

27 February 2019

Farbod Farshidian

Marco Hutter

Papers citing "Whole-Body MPC for a Dynamically Stable Mobile Manipulator"

8 / 8 papers shown

Title
Feedback MPC for Torque-Controlled Legged Robots R. Grandia Farbod Farshidian René Ranftl Marco Hutter 43 158 0 15 May 2019
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations Reihaneh Mirjalili A. Yousefi-Koma F. A. Shirazi A. Nikkhah Fatemeh Nazemi Majid Khadiv 21 10 0 24 Oct 2018
Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids M. Zafar S. Hutchinson Evangelos A. Theodorou 31 29 0 07 Oct 2018
Frequency-Aware Model Predictive Control R. Grandia Farbod Farshidian Alexey Dosovitskiy René Ranftl Marco Hutter 47 49 0 12 Sep 2018
An MPC Walking Framework With External Contact Forces Sean Mason Nicholas Rotella S. Schaal Ludovic Righetti 20 20 0 26 Dec 2017
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 42 125 0 11 Oct 2017
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation Markus Giftthaler Michael Neunert M. Stäuble M. Frigerio Claudio Semini J. Buchli 45 62 0 12 Sep 2017
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion Farbod Farshidian Michael Neunert Alexander Winkler Gonzalo Rey J. Buchli 35 144 0 30 Sep 2016