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"

47 / 147 papers shown

Title
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots Nathan J. Kong Chuanzheng Li Aaron M. Johnson 35 32 0 11 Jul 2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions Charles Khazoom Daniel Gonzalez Diaz Yanran Ding Sangbae Kim 53 31 0 01 Jul 2022
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots Chenyu Yang Guo Ning Sue Zhongyu Li Lizhi Yang Haotian Shen Yufeng Chi Akshara Rai Jun Zeng Koushil Sreenath 53 29 0 29 Jun 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 42 58 0 28 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller Nikita Rudin Chris Choy Anima Anandkumar Marco Hutter 40 32 0 16 Jun 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 49 230 0 05 May 2022
Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control Chuong H. Nguyen Lingfan Bao Quan Nguyen 26 31 0 03 Apr 2022
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control Sangli Teng Di Chen William Clark Maani Ghaffari 37 28 0 16 Mar 2022
Learning Torque Control for Quadrupedal Locomotion Shuxiao Chen Bike Zhang M. Mueller Akshara Rai Koushil Sreenath 23 37 0 10 Mar 2022
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion Ziyi Zhou Bruce Wingo Nathan Boyd S. Hutchinson Ye Zhao 27 27 0 03 Mar 2022
Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots Youngwoo Sim Joao Ramos 24 29 0 01 Mar 2022
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion Gwanghyeon Ji Juhyeok Mun Hyeongjun Kim Jemin Hwangbo 33 137 0 11 Feb 2022
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance Hua Chen Zejun Hong Shunpeng Yang Patrick M. Wensing Wei Zhang 32 16 0 28 Jan 2022
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning Avadesh Meduri Paarth Shah Julian Viereck Majid Khadiv Ioannis Havoutis Ludovic Righetti 33 73 0 19 Jan 2022
Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller Yecheng Shao Yongbin Jin Xianwei Liu Weiyan He Hongtao Wang Wei Yang 13 60 0 01 Jan 2022
Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping Matthew Chignoli S. Morozov Sangbae Kim 20 21 0 26 Nov 2021
Learning to Jump from Pixels G. Margolis Tao Chen Kartik Paigwar Xiang Fu Donghyun Kim Sangbae Kim Pulkit Agrawal 59 82 0 28 Oct 2021
Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming Ziyi Zhou Dong Jae Lee Yuki Yoshinaga S. Balakirsky Dejun Guo Ye Zhao 29 20 0 16 Oct 2021
Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots Chuong H. Nguyen Quan Nguyen 46 34 0 13 Oct 2021
Real-time Optimal Landing Control of the MIT Mini Cheetah Seungmin Jeon Sangbae Kim Donghyun Kim 48 6 0 06 Oct 2021
FastMimic: Model-based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion Tianyu Li Jungdam Won Sehoon Ha Akshara Rai 56 13 0 27 Sep 2021
Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model Ke Wang He Fei Petar Kormushev 17 7 0 20 Sep 2021
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots Ke Wang Guiyang Xin Songyan Xin M. Mistry S. Vijayakumar Petar Kormushev 36 13 0 09 Sep 2021
An Adaptive Control Algorithm for Quadruped Locomotion with Proprioceptive Linear Legs Bingchen Jin Yueheng Zhou Ye Zhao Ming Liu Chao Song Jianwen Luo 13 1 0 26 Jul 2021
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation Hongwu Zhu Dong Wang Nathan Boyd Ziyi Zhou Lecheng Ruan Aidong Zhang Ning Ding Ye Zhao Jianwen Luo 17 10 0 26 Jul 2021
Learning Quadruped Locomotion Policies using Logical Rules David DeFazio Yohei Hayamizu Shiqi Zhang 21 2 0 23 Jul 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 100 80 0 12 Jul 2021
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles Scott Gilroy Derek Lau Lizhi Yang Eduardo Izaguirre Kristen Biermayer ... M. Sun Ayush Agrawal Jun Zeng Zhongyu Li Koushil Sreenath 30 38 0 01 Jul 2021
Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events Tzu-Yuan Lin Ray Zhang Justin Yu Maani Ghaffari 37 35 0 29 Jun 2021
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots Wyatt Ubellacker Noel Csomay-Shanklin Tamás G. Molnár Aaron D. Ames 15 17 0 18 Jun 2021
Knowledge Transfer across Imaging Modalities Via Simultaneous Learning of Adaptive Autoencoders for High-Fidelity Mobile Robot Vision M. Rahman Tauhidur Rahman Donghyun Kim Mohammad Arif Ul Alam 13 2 0 11 May 2021
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors Matthew Chignoli Donghyun Kim Elijah Stanger-Jones Sangbae Kim 8 136 0 19 Apr 2021
Fast and Efficient Locomotion via Learned Gait Transitions Yuxiang Yang Tingnan Zhang Erwin Coumans Jie Tan Byron Boots 19 91 0 09 Apr 2021
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction Anxing Xiao W. Tong Lizhi Yang Jun Zeng Zhongyu Li Koushil Sreenath 14 78 0 26 Mar 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 36 44 0 11 Mar 2021
Learning Navigation Skills for Legged Robots with Learned Robot Embeddings Joanne Truong Denis Yarats Tianyu Li Franziska Meier Sonia Chernova Dhruv Batra Akshara Rai 23 20 0 24 Nov 2020
A Legged Soft Robot Platform for Dynamic Locomotion Boxi Xia Jiaming Fu Hongbo Zhu Zhicheng Song Y. Jiang Hod Lipson 17 10 0 13 Nov 2020
NeuralSim: Augmenting Differentiable Simulators with Neural Networks Eric Heiden David Millard Erwin Coumans Yizhou Sheng Gaurav Sukhatme 27 137 0 09 Nov 2020
Technical Report: A New Hopping Controller for Highly Dynamical Bipeds Shane Rozen-Levy D. Koditschek 15 0 0 01 Nov 2020
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach Kartik Paigwar L. Krishna Sashank Tirumala Naman Khetan Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 17 17 0 30 Oct 2020
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion Guiyang Xin Songyan Xin Oguzhan Cebe M. J. Pollayil Franco Angelini M. Garabini S. Vijayakumar M. Mistry 22 0 0 23 Oct 2020
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks Jaemin Lee S. Bang E. Bakolas Luis Sentis 19 8 0 13 Sep 2020
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot Oguzhan Cebe Carlo Tiseo Guiyang Xin Hsiu-Chin Lin Joshua R. Smith M. Mistry 13 22 0 28 Aug 2020
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization Chenyu Yang Bike Zhang Jun Zeng Ayush Agrawal Koushil Sreenath 15 16 0 01 Aug 2020
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations Sashank Tirumala S. Gubbi Kartik Paigwar Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 25 4 0 28 Jul 2020
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints K. Hamed Jeeseop Kim Abhishek Pandala 17 32 0 15 Apr 2020
Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model Stéphane Caron 11 24 0 17 Sep 2019