Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics

2 October 2020

Papers citing "Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics"

34 / 34 papers shown

Title
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations Yuki Shirai A. Raghunathan Devesh K. Jha 72 1 0 11 Mar 2025
Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots Tara Bartlett Ian R. Manchester 41 0 0 16 Sep 2024
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 45 0 0 14 Aug 2024
NAS: N-step computation of All Solutions to the footstep planning problem Jiayi Wang Saeid Samadi Hefan Wang Pierre Fernbach O. Stasse S. Vijayakumar Steve Tonneau 44 0 0 17 Jul 2024
Optimal Gait Control for a Tendon-driven Soft Quadruped Robot by Model-based Reinforcement Learning Xuezhi Niu Kaige Tan Lei Feng 23 0 0 11 Jun 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 17 0 03 Jun 2024
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts Stefan Fasano James Foster Sylvain Bertrand Christian DeBuys Robert Griffin 27 1 0 19 Oct 2023
Learning Multiple Gaits within Latent Space for Quadruped Robots Jinze Wu Yufei Xue Chenkun Qi 35 18 0 06 Aug 2023
Online Multi-Contact Receding Horizon Planning via Value Function Approximation Jiayi Wang Sanghyun Kim Teguh Santoso Lembono Wenqian Du Jae-Koo Shim ... Ke Min Wang V. Ivan Sylvain Calinon S. Vijayakumar Steve Tonneau 24 4 0 07 Jun 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
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
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization Michael R. Turski Joseph Norby Aaron M. Johnson 19 3 0 11 Apr 2023
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots Shamel Fahmi Victor Barasuol Domingo Esteban Octavio Villarreal Claudio Semini 25 16 0 02 Dec 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
Adaptive Complexity Model Predictive Control Joseph Norby Ardalan Tajbakhsh Yanhao Yang Aaron M. Johnson 59 5 0 06 Sep 2022
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion Stefano Dafarra Giulio Romualdi Daniele Pucci 30 17 0 07 Jul 2022
Efficient Object Manipulation Planning with Monte Carlo Tree Search Huaijiang Zhu Avadesh Meduri Ludovic Righetti 32 11 0 17 Jun 2022
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning Wolfgang Hoenig Joaquim Ortiz de Haro Marc Toussaint 27 11 0 21 Mar 2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach Carlos Mastalli W. Merkt Guiyang Xin Jae-Eul Shim M. Mistry Ioannis Havoutis S. Vijayakumar 24 54 0 14 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
On the Use of Torque Measurement in Centroidal State Estimation Shahram Khorshidi Ahmad Gazar Nicholas Rotella M. Naveau Ludovic Righetti Maren Bennewitz Majid Khadiv 24 3 0 25 Feb 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
ValueNetQP: Learned one-step optimal control for legged locomotion Julian Viereck Avadesh Meduri Ludovic Righetti 19 8 0 11 Jan 2022
Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping Matthew Chignoli S. Morozov Sangbae Kim 20 21 0 26 Nov 2021
A unified framework for walking and running of bipedal robots Mahrokh Ghoddousi Boroujeni E. Daneshmand Ludovic Righetti Majid Khadiv 21 6 0 18 Oct 2021
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent Paarth Shah Avadesh Meduri W. Merkt Majid Khadiv Ioannis Havoutis Ludovic Righetti 24 7 0 04 Aug 2021
Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization Miroslav Bogdanovic Majid Khadiv Ludovic Righetti 117 30 0 14 Jul 2021
Reward-Adaptive Reinforcement Learning: Dynamic Policy Gradient Optimization for Bipedal Locomotion Changxin Huang Guangrun Wang Zhibo Zhou Ronghui Zhang Liang Lin 19 20 0 05 Jul 2021
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization (Extended Version) Daeun Song Pierre Fernbach T. Flayols Andrea Del Prete Nicolas Mansard Steve Tonneau Young J. Kim 17 18 0 19 Nov 2020
Learning a Centroidal Motion Planner for Legged Locomotion Julian Viereck Ludovic Righetti 30 17 0 05 Nov 2020
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain Avadesh Meduri Majid Khadiv Ludovic Righetti 11 11 0 28 Oct 2020
Robot Learning with Crash Constraints A. Marco Dominik Baumann Majid Khadiv Philipp Hennig Ludovic Righetti Sebastian Trimpe 8 28 0 16 Oct 2020
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control E. Daneshmand Majid Khadiv F. Grimminger Ludovic Righetti 13 2 0 16 Oct 2020
Robust walking based on MPC with viability guarantees Mohammad Hasan Yeganegi Majid Khadiv Andrea Del Prete S. A. A. Moosavian Ludovic Righetti 19 25 0 09 Oct 2020