Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

10 April 2019

Papers citing "Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics"

6 / 6 papers shown

Title
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 61 112 0 11 Mar 2020
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization Bernardo Aceituno-Cabezas Carlos Mastalli Hongkai Dai Michele Focchi A. Radulescu Darwin G. Caldwell J. Cappelletto J. Grieco Gerardo Fernández-López Claudio Semini 76 151 0 09 Apr 2019
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain Alexander Winkler Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 47 119 0 07 Apr 2019
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds Michael Neunert M. Stäuble Markus Giftthaler C. D. Bellicoso Jan Carius Christian Gehring Marco Hutter J. Buchli 62 251 0 07 Dec 2017
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 48 98 0 15 Jul 2015
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid Alexander Herzog Nicholas Rotella Sean Mason F. Grimminger S. Schaal Ludovic Righetti 58 256 0 27 Oct 2014