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
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions Javier Borquez Shuang Peng Lydia Y. Chen Quan Nguyen Somil Bansal 27 2 0 19 Sep 2023
Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping Linzhu Yue Zhitao Song Hongbo Zhang Xuanqi Zeng Lingwei Zhang Yunhui Liu 19 1 0 14 Sep 2023
Design and Control of a Bio-inspired Wheeled Bipedal Robot Hai Zhao Leitao Yu S. Qin Yurui Jin Yuqing Chen 13 2 0 25 Aug 2023
Robust Quadrupedal Locomotion via Risk-Averse Policy Learning Jiyuan Shi Chenjia Bai Haoran He Lei Han Dong Wang Bin Zhao Mingguo Zhao Xiuyang Li Xuelong Li OffRL OOD 35 9 0 18 Aug 2023
Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning M. Aractingi Pierre-Alexandre Léziart He Cao Julien Perez Yuan Yao Philippe Souères 33 29 0 02 Aug 2023
Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments Tangyu Qian Zhangli Zhou Shaochen Wang Zhijun Li C. Su Z. Kan 36 0 0 17 Jul 2023
Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion Vyacheslav Kovalev Anna Shkromada H. Ouerdane Pavel Osinenko 32 2 0 15 Jul 2023
Identifying Important Sensory Feedback for Learning Locomotion Skills Wanming Yu Chuanyu Yang C. McGreavy Eleftherios Triantafyllidis Guillaume Bellegarda M. Shafiee A. Ijspeert Zhibin Li 27 16 0 29 Jun 2023
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots David Hoeller Nikita Rudin Dhionis V. Sako Marco Hutter 51 132 0 26 Jun 2023
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller Yuxiang Yang Guanya Shi Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 46 26 0 16 Jun 2023
Tuning Legged Locomotion Controllers via Safe Bayesian Optimization Daniel Widmer Dong-oh Kang Bhavya Sukhija Jonas Hübotter Andreas Krause Stelian Coros 28 14 0 12 Jun 2023
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion Dong-oh Kang Jin Cheng Miguel Zamora Fatemeh Zargarbashi Stelian Coros OffRL 29 32 0 29 May 2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots Ken Caluwaerts Atil Iscen J. Kew Wenhao Yu Tingnan Zhang ... J. Seto Carolina Parada Vikas Sindhwani Vincent Vanhoucke Jie Tan 27 59 0 24 May 2023
Risk-Sensitive Extended Kalman Filter Armand Jordana Avadesh Meduri Etienne Arlaud Justin Carpentier Ludovic Righetti 21 3 0 19 May 2023
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control A. Miller Shamel Fahmi Matthew Chignoli Sangbae Kim 26 5 0 18 May 2023
Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface Shifan Zhu Zhipeng Tang M. Yang Erik Learned-Miller Donghyun Kim TTA 20 4 0 15 May 2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection Thomas Corbéres Carlos Mastalli W. Merkt Ioannis Havoutis Maurice F. Fallon Nicolas Mansard T. Flayols S. Vijayakumar Steve Tonneau 53 15 0 15 May 2023
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos John Z. Zhang Shuo Yang Gengshan Yang Arun L. Bishop Deva Ramanan Zachary Manchester 56 18 0 27 Apr 2023
Learning and Adapting Agile Locomotion Skills by Transferring Experience Laura M. Smith J. Kew Tianyu Li Linda Luu Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 37 55 0 19 Apr 2023
Continuous Versatile Jumping Using Learned Action Residuals Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 47 11 0 17 Apr 2023
Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots Jingwen Zhang Junjie Shen Yeting Liu Dennis W. Hong 46 5 0 02 Apr 2023
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation Arnaud Klipfel Nitish Sontakke Ren Liu Sehoon Ha 41 7 0 27 Mar 2023
Kinodynamics-based Pose Optimization for Humanoid Loco-manipulation Junheng Li Quan Nguyen 29 6 0 09 Mar 2023
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots Yanhao Yang Joseph Norby Justin K. Yim Aaron M. Johnson 29 5 0 08 Mar 2023
Agile and Versatile Robot Locomotion via Kernel-based Residual Learning Milo Carroll Zhaocheng Liu Mohammadreza Kasaei Zhibin Li 27 2 0 14 Feb 2023
Geometry of contact: contact planning for multi-legged robots via spin models duality Baxi Chong Di Luo Tianyu Wang G. Margolis Juntao He Pulkit Agrawal M. Soljavcić Daniel I. Goldman 13 1 0 06 Feb 2023
Cascaded Compositional Residual Learning for Complex Interactive Behaviors K. N. Kumar Irfan Essa Sehoon Ha 39 12 0 17 Dec 2022
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior G. Margolis Pulkit Agrawal 31 157 0 06 Dec 2022
Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots Jingli Cheng Yasser G. Alqaham A. Sanyal Zhenyu Gan 38 4 0 22 Nov 2022
State Estimation for Hybrid Locomotion of Driving-Stepping Quadrupeds M. Hosseini D. Rodriguez Sven Behnke 21 7 0 21 Nov 2022
The Simplest Balance Controller for Dynamic Walking Linqi Ye Xueqian Wang Houde Liu Bin Liang 46 3 0 11 Nov 2022
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion Guillaume Bellegarda A. Ijspeert 41 78 0 01 Nov 2022
Efficient Learning of Locomotion Skills through the Discovery of Diverse Environmental Trajectory Generator Priors Shikha Surana Bryan Lim Antoine Cully 38 3 0 10 Oct 2022
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning Xiaoyu Huang Zhongyu Li Yan-Ling Xiang Yiming Ni Yufeng Chi Yunhao Li Lizhi Yang Xue Bin Peng Koushil Sreenath 42 46 0 10 Oct 2022
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion Daniel Marew Misha Lvovsky Shangqun Yu Shotaro Sessions Donghyun Kim 6 0 0 07 Oct 2022
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control Alberto Rigo Yiyu Chen S. Gupta Quan Nguyen 32 24 0 07 Oct 2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion Angelo Bratta Avadesh Meduri Michele Focchi Ludovic Righetti Claudio Semini 37 3 0 30 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 80 71 0 26 Sep 2022
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization Maegan Tucker Noel Csomay-Shanklin Aaron D. Ames 26 3 0 21 Sep 2022
Recent Approaches for Perceptive Legged Locomotion Hersh Sanghvi 50 0 0 21 Sep 2022
Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots Garen Haddeler Hari P. Palanivelu Yung Chuen Ng Fabien Colonnier A. H. Adiwahono Zhibin Li C. Chew Meng Yee Michael Chuah Chuah 41 2 0 20 Sep 2022
MPC with Sensor-Based Online Cost Adaptation Avadesh Meduri Huaijiang Zhu Armand Jordana Ludovic Righetti 45 4 0 20 Sep 2022
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments Mingyo Seo Ryan Gupta Yifeng Zhu Alexy Skoutnev Luis Sentis Yuke Zhu 26 12 0 19 Sep 2022
Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC Junheng Li Quan Nguyen 39 19 0 18 Sep 2022
Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots Junheng Li Quan Nguyen 50 13 0 18 Sep 2022
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs Wyatt Ubellacker Aaron D. Ames 40 15 0 15 Sep 2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot Yandong Ji Zhongyu Li Yinan Sun Xue Bin Peng Sergey Levine Glen Berseth Koushil Sreenath 39 63 0 01 Aug 2022
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations Kuang-Huei Lee Ofir Nachum Tingnan Zhang S. Guadarrama Jie Tan Wenhao Yu 26 16 0 27 Jul 2022
An Optimal Motion Planning Framework for Quadruped Jumping Zhitao Song Linzhu Yue Guangli Sun Yihu Ling Hongshuo Wei Linhai Gui Yun-Hui Liu 23 19 0 25 Jul 2022
Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis Dong-oh Kang Flavio De Vincenti Stelian Coros 14 11 0 21 Jul 2022