A Unified MPC Framework for Whole-Body Dynamic Locomotion and
Manipulation

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

1 March 2021

Jean-Pierre Sleiman

Farbod Farshidian

Marco Hutter

Papers citing "A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation"

15 / 15 papers shown

Title
Learning Unified Force and Position Control for Legged Loco-Manipulation Peiyuan Zhi Peiyang Li Jianqin Yin Baoxiong Jia Siyuan Huang 52 0 0 27 May 2025
Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors Masaki Murooka Kensuke Fukumitsu Marwan Hamze Mitsuharu Morisawa Hiroshi Kaminaga F. Kanehiro Eiichi Yoshida 9 1 0 26 May 2025
Steppability-informed Quadrupedal Contact Planning through Deep Visual Search Heuristics M. Asselmeier Ye Zhao Patricio A. Vela 76 0 0 03 Jan 2025
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 82 3 0 24 Sep 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 73 7 0 14 Aug 2024
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 41 6 0 18 Mar 2024
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 39 27 0 15 Jan 2021
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion Octavio Antonio Villarreal-Magaña Victor Barasuol Patrick M. Wensing Darwin G. Caldwell Claudio Semini 91 75 0 30 Sep 2019
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control Carlos Mastalli Rohan Budhiraja W. Merkt Guilhem Saurel Bilal Hammoud M. Naveau Justin Carpentier Ludovic Righetti S. Vijayakumar Nicolas Mansard 48 292 0 11 Sep 2019
Feedback MPC for Torque-Controlled Legged Robots R. Grandia Farbod Farshidian René Ranftl Marco Hutter 40 158 0 15 May 2019
Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain Shamel Fahmi Carlos Mastalli Michele Focchi Claudio Semini 49 102 0 02 Nov 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 36 251 0 07 Dec 2017
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 42 125 0 11 Oct 2017
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion Farbod Farshidian Michael Neunert Alexander Winkler Gonzalo Rey J. Buchli 35 144 0 30 Sep 2016
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion S. Kuindersma Frank Permenter Russ Tedrake 51 243 0 07 Nov 2013