MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion

30 September 2019

Octavio Antonio Villarreal-Magaña

Victor Barasuol

Patrick M. Wensing

Darwin G. Caldwell

Claudio Semini

Papers citing "MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion"

10 / 10 papers shown

Title
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Shafeef Omar Lorenzo Amatucci Victor Barasuol Giulio Turrisi Claudio Semini 52 3 0 24 Jul 2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller Ilyass Taouil Giulio Turrisi Daniel Schleich Victor Barasuol Claudio Semini Sven Behnke 49 1 0 23 Jul 2023
Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion D. Belter J. Bednarek Hsiu-Chin Lin Guiyang Xin M. Mistry 34 16 0 01 Dec 2022
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 44 150 0 09 Apr 2019
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction Yu-Chi Lin Brahayam Pontón Ludovic Righetti Dmitry Berenson 30 40 0 31 Oct 2018
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs O. V. Magaña Victor Barasuol Marco Camurri Luca Franceschi Michele Focchi Massimiliano Pontil D. Caldwell Claudio Semini 35 70 0 25 Sep 2018
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 34 251 0 07 Dec 2017
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation Markus Giftthaler Michael Neunert M. Stäuble M. Frigerio Claudio Semini J. Buchli 42 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 32 144 0 30 Sep 2016
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 40 97 0 15 Jul 2015