Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

14 September 2019

Donghyun Kim

Papers citing "Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control"

50 / 147 papers shown

Title
Adaptive MPC-based quadrupedal robot control under periodic disturbances Elizaveta Pestova Ilya Osokin Danil Belov Pavel Osinenko 17 0 0 18 May 2025
Human-Centered Development of Guide Dog Robots: Quiet and Stable Locomotion Control Shangqun Yu Hochul Hwang Trung M. Dang Joydeep Biswas Nicholas A. Giudice S. I. Lee Donghyun Kim 17 0 0 17 May 2025
Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots Huiqiao Fu Haoyu Dong Wentao Xu Zhehao Zhou Guizhou Deng Kaiqiang Tang D. Dong Chunlin Chen 29 0 0 15 May 2025
APEX: Action Priors Enable Efficient Exploration for Skill Imitation on Articulated Robots Shivam Sood Laukik B Nakhwa Yuhong Cao Sun Ge Guillaume Sartoretti 25 0 0 15 May 2025
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng Tzu-Yuan Lin William Clark Ram Vasudevan Maani Ghaffari AI4CE 52 0 0 05 May 2025
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion Ziyi Zhou Stefano Di Cairano Yebin Wang K. Berntorp 54 0 0 24 Apr 2025
Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds Jiatao Ding Peiyu Yang Fabio Boekel Jens Kober Wei Pan Matteo Saveriano Cosimo Della Santina 31 0 0 17 Apr 2025
Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER Rui Zong Martin Liang Yuntian Fang Ke Wang Xiaoshuai Chen Wei Chen Petar Kormushev 34 0 0 01 Apr 2025
Learning Robotic Policy with Imagined Transition: Mitigating the Trade-off between Robustness and Optimality Wei Xiao Shangke Lyu Zhefei Gong Renjie Wang Donglin Wang 51 1 0 13 Mar 2025
Variable Stiffness for Robust Locomotion through Reinforcement Learning Dario Spoljaric Yashuai Yan Dongheui Lee 67 0 0 13 Feb 2025
Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Franek Stark Jakob Middelberg Dennis Mronga S. Vyas Frank Kirchner 39 0 0 03 Feb 2025
AllGaits: Learning All Quadruped Gaits and Transitions Guillaume Bellegarda M. Shafiee A. Ijspeert 39 1 0 07 Nov 2024
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control Xinyu Jia Wenxin Wang Jun Yang Yongping Pan Haoyong Yu 21 0 0 23 Oct 2024
RPCBF: Constructing Safety Filters Robust to Model Error and Disturbances via Policy Control Barrier Functions Luzia Knoedler Oswin So Ji Yin Mitchell Black Zachary Serlin Panagiotis Tsiotras Javier Alonso-Mora Chuchu Fan 33 1 0 15 Oct 2024
Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives Maurya Gurram Prakash Kumar Uttam Shantipal S. Ohol OffRL 39 0 0 14 Oct 2024
Behavior evolution-inspired approach to walking gait reinforcement training for quadruped robots Yu Wang Wenchuan Jia Yi Sun Dong He 37 0 0 25 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 54 6 0 24 Sep 2024
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing Haoru Xue Chaoyi Pan Zeji Yi Guannan Qu Guanya Shi 51 15 0 23 Sep 2024
Agile Continuous Jumping in Discontinuous Terrains Yuxiang Yang Guanya Shi Changyi Lin Xiangyun Meng Rosario Scalise ... Wenhao Yu Tingnan Zhang Ding Zhao Jie Tan Byron Boots 34 2 0 17 Sep 2024
RPC: A Modular Framework for Robot Planning, Control, and Deployment S. Bang Carlos Gonzalez Gabriel Moore Dong Ho Kang Mingyo Seo Luis Sentis 32 0 0 16 Sep 2024
Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers S. Bang Jaemin Lee Carlos Gonzalez Luis Sentis 47 5 0 23 Jul 2024
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion Xuanqi Zeng Hongbo Zhang Linzhu Yue Zhitao Song Linwei Zhang Yunhui Liu 41 0 0 14 Jul 2024
RoboMorph: Evolving Robot Morphology using Large Language Models Kevin Qiu Krzysztof Ciebiera Krzysztof Ciebiera Marek Cygan Marek Cygan Łukasz Kuciński LM&Ro 54 0 0 11 Jul 2024
A Fast Online Omnidirectional Quadrupedal Jumping Framework Via Virtual-Model Control and Minimum Jerk Trajectory Generation Linzhu Yue Lingwei Zhang Zhitao Song Hongbo Zhang Jinhu Dong Xuanqi Zeng Yun-Hui Liu 39 0 0 30 Jun 2024
An eight-neuron network for quadruped locomotion with hip-knee joint control Yide Liu Xiyan Liu Dongqi Wang Wei Yang Shaoxing Qu 35 0 0 19 Jun 2024
Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots Jing Cheng Yasser G. Alqaham Zhenyu Gan 25 1 0 27 May 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 37 3 0 27 May 2024
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping Zhicheng He Jiayang Wu Jingwen Zhang Shibowen Zhang Yapeng Shi Hangxin Liu Lining Sun Yao Su Xiaokun Leng 51 10 0 20 May 2024
Wall-Climbing Performance of Gecko-inspired Robot with Soft Feet and Digits enhanced by Gravity Compensation Bingcheng Wang Zhiyuan Weng Haoyu Wang Shuangjie Wang Zhouyi Wang Zhendong Dai A. Jusufi 19 2 0 04 May 2024
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe Nisal Perera Shangqun Yu Daniel Marew Mack Tang Ken Suzuki Aidan McCormack Shifan Zhu Yong-Jae Kim Donghyun Kim 37 1 0 07 Apr 2024
CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots Shifan Zhu Zixun Xiong Donghyun Kim 39 2 0 06 Apr 2024
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion Shunpeng Yang Zejun Hong Sen Li Patrick M. Wensing Wei Zhang Hua Chen 28 0 0 31 Mar 2024
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators Changyi Lin Xingyu Liu Yuxiang Yang Yaru Niu Wenhao Yu Tingnan Zhang Jie Tan Byron Boots Ding Zhao 49 12 0 27 Mar 2024
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness Wentao Zhang Shaohang Xu Peiyuan Cai Lijun Zhu 21 0 0 15 Mar 2024
Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping Guillaume Bellegarda M. Shafiee Merih Ekin Özberk A. Ijspeert 51 9 0 11 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 52 13 0 06 Mar 2024
Smooth Computation without Input Delay: Robust Tube-Based Model Predictive Control for Robot Manipulator Planning Yu-Juan Luo Qie Sima Tianying Ji Gang Hua Huaping Liu Jianwei Zhang 31 2 0 02 Mar 2024
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback Jenny Zhang Steve Heim Seungmin Jeon Sangbae Kim 37 2 0 13 Feb 2024
Towards Robotic Companions: Understanding Handler-Guide Dog Interactions for Informed Guide Dog Robot Design Hochul Hwang Hee-Tae Jung Nicholas A. Giudice Joydeep Biswas S. I. Lee Donghyun Kim 37 20 0 09 Feb 2024
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research Junheng Li Junchao Ma Omar Kolt Manas Shah Quan Nguyen 48 15 0 19 Dec 2023
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 49 9 0 14 Dec 2023
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments Jaemin Lee Jeeseop Kim Wyatt Ubellacker Tamás G. Molnár Aaron D. Ames 36 2 0 12 Dec 2023
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal M. Asselmeier Jane Ivanova Ziyi Zhou Patricio A. Vela Ye Zhao 29 4 0 14 Nov 2023
Proprioceptive Invariant Robot State Estimation Tzu-Yuan Lin Ting-Ting Li Wenzhe Tong Maani Ghaffari 54 8 0 07 Nov 2023
Exploitation-Guided Exploration for Semantic Embodied Navigation Justin Wasserman Girish Chowdhary Abhinav Gupta Unnat Jain 26 1 0 06 Nov 2023
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion D. Youm Hyunyoung Jung Hyeongjun Kim Jemin Hwangbo Hae-Won Park Sehoon Ha 42 9 0 04 Nov 2023
Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects Alberto Rigo Muqun Hu Satyandra K. Gupta Quan Nguyen 38 6 0 31 Oct 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 28 9 0 13 Oct 2023
SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion Xinyu Zhang Zhiyuan Xiao Qingrui Zhang Wei Pan 47 5 0 10 Oct 2023
Guardians as You Fall: Active Mode Transition for Safe Falling Yikai Wang Mengdi Xu Guanya Shi Ding Zhao 31 7 0 07 Oct 2023