Predictive Whole-Body Control of Humanoid Robot Locomotion

16 April 2020

Stefano Dafarra

Papers citing "Predictive Whole-Body Control of Humanoid Robot Locomotion"

34 / 34 papers shown

Title
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas Stefano Dafarra Sylvain Bertrand Robert J. Griffin Giorgio Metta Daniele Pucci J. Pratt 129 17 0 25 Apr 2020
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach Stefano Dafarra Giulio Romualdi Giorgio Metta Daniele Pucci 104 9 0 10 Mar 2020
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots M. Shafiee Giulio Romualdi Stefano Dafarra Francisco Javier Andrade Chavez Daniele Pucci 38 26 0 23 Sep 2019
Footstep Planning for Autonomous Walking Over Rough Terrain Robert J. Griffin Georg Wiedebach Stephen McCrory Sylvain Bertrand Inho Lee J. Pratt 107 78 0 19 Jul 2019
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics Rohan Budhiraja Justin Carpentier Carlos Mastalli Nicolas Mansard 62 84 0 10 Apr 2019
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 83 151 0 09 Apr 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 110 1,317 0 24 Jan 2019
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction Yu-Chi Lin Brahayam Pontón Ludovic Righetti Dmitry Berenson 35 41 0 31 Oct 2018
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations Reihaneh Mirjalili A. Yousefi-Koma F. A. Shirazi A. Nikkhah Fatemeh Nazemi Majid Khadiv 39 10 0 24 Oct 2018
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control Stéphane Caron A. Kheddar Olivier Tempier 74 132 0 19 Sep 2018
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots Giulio Romualdi Stefano Dafarra Yue Hu Daniele Pucci 44 28 0 06 Sep 2018
Telexistence and Teleoperation for Walking Humanoid Robots Mohamed Elobaid Yue Hu Giulio Romualdi Stefano Dafarra J. Babič Daniele Pucci 34 30 0 05 Sep 2018
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots Stefano Dafarra Gabriele Nava Marie Charbonneau Nuno Guedelha Francisco Andrade ... Luca Fiorio Francesco Romano F. Nori Giorgio Metta Daniele Pucci 54 15 0 14 Jul 2018
DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills Xue Bin Peng Pieter Abbeel Sergey Levine M. van de Panne AI4CE 248 499 0 08 Apr 2018
An MPC Walking Framework With External Contact Forces Sean Mason Nicholas Rotella S. Schaal Ludovic Righetti 38 20 0 26 Dec 2017
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 62 252 0 07 Dec 2017
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control Markus Giftthaler Michael Neunert M. Stäuble J. Buchli Moritz Diehl 61 102 0 29 Nov 2017
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 64 128 0 11 Oct 2017
Balance control using both ZMP and COM height variations: A convex boundedness approach Stéphane Caron Bastien Mallein 41 20 0 19 Sep 2017
Straight-Leg Walking Through Underconstrained Whole-Body Control Robert J. Griffin Georg Wiedebach Sylvain Bertrand Alexander Leonessa J. Pratt 52 37 0 12 Sep 2017
Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw Gabriele Nava Daniele Pucci Nuno Guedelha Silvio Traversaro Francesco Romano Stefano Dafarra F. Nori 28 10 0 28 Jul 2017
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot Stefano Dafarra Francesco Romano F. Nori 26 4 0 30 May 2017
Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot Stefano Dafarra Francesco Romano F. Nori 42 28 0 30 May 2017
Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum Stéphane Caron A. Kheddar 57 35 0 02 Mar 2017
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas Robert J. Griffin Georg Wiedebach Sylvain Bertrand Alexander Leonessa J. Pratt 73 99 0 01 Mar 2017
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems Francesco Romano Silvio Traversaro Daniele Pucci Jorhabib Eljaik Andrea Del Prete F. Nori AI4CE 48 19 0 04 Jan 2017
When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC Stéphane Caron Quang Pham 55 31 0 15 Sep 2016
Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations Stéphane Caron A. Kheddar 53 68 0 29 Jul 2016
Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis Yue Hu Jorhabib Eljaik Kevin Stein F. Nori K. Mombaur 44 11 0 28 Jul 2016
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas Georg Wiedebach Sylvain Bertrand Tingfan Wu Luca Fiorio Stephen McCrory Robert Griffin F. Nori J. Pratt 48 77 0 27 Jul 2016
Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots Gabriele Nava Francesco Romano F. Nori Daniele Pucci 37 76 0 14 Mar 2016
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 50 98 0 15 Jul 2015
A Flexible and Robust Large Scale Capacitive Tactile System for Robots P. Maiolino M. Maggiali G. Cannata Giorgio Metta Lorenzo Natale 52 214 0 25 Nov 2014
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics Alexander Herzog Ludovic Righetti F. Grimminger P. Pastor S. Schaal 60 149 0 09 May 2013