Accelerated ADMM based Trajectory Optimization for Legged Locomotion
with Coupled Rigid Body Dynamics

Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics

18 March 2020

Ye Zhao

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Papers citing "Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics"

9 / 9 papers shown

Title
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 100 9 0 18 Mar 2024
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation Lasitha Wijayarathne Ziyi Zhou Ye Zhao Frank L. Hammond 55 14 0 19 Dec 2022
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots Yuki Shirai Xuan Lin Alexander Schperberg Yusuke Tanaka Hayato Kato Varit Vichathorn Dennis W. Hong 93 30 0 04 Jul 2022
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion Ziyi Zhou Bruce Wingo Nathan Boyd S. Hutchinson Ye Zhao 45 29 0 03 Mar 2022
Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier Ruiqi Ni Zherong Pan Xifeng Gao 63 8 0 13 Nov 2021
Trajectory Splitting: A Distributed Formulation for Collision Avoiding Trajectory Optimization Changhao Wang Jeffrey Bingham Masayoshi Tomizuka 57 14 0 02 Nov 2021
Adversarially Regularized Policy Learning Guided by Trajectory Optimization Zhigen Zhao Simiao Zuo T. Zhao Ye Zhao 79 10 0 16 Sep 2021
SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments Zhigen Zhao Ziyi Zhou Michael Park Ye Zhao 65 13 0 21 Oct 2020
Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics Lasitha Wijayarathne Qie Sima Ziyi Zhou Ye Zhao Frank L. Hammond 43 5 0 21 Apr 2020