Collision-Free MPC for Legged Robots in Static and Dynamic Scenes

Collision-Free MPC for Legged Robots in Static and Dynamic Scenes

25 March 2021

Magnus Gaertner

Farbod Farshidian

Marco Hutter

Papers citing "Collision-Free MPC for Legged Robots in Static and Dynamic Scenes"

13 / 13 papers shown

Title
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Tianze Wang Christian Hubicki 59 0 0 19 May 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 75 2 0 11 Nov 2024
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation Daegyu Lim Myeong-Ju Kim Junhyeok Cha Jaeheung Park 78 1 0 17 Feb 2024
Learning a State Representation and Navigation in Cluttered and Dynamic Environments David Hoeller Lorenz Wellhausen Farbod Farshidian Marco Hutter SSL 52 78 0 07 Mar 2021
Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments B. Brito B. Floor L. Ferranti Javier Alonso-Mora 39 151 0 20 Oct 2020
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion Amanda Bouman M. Ginting Nikhilesh Alatur M. Palieri David D. Fan ... T. Pailevanian Sung-Kyun Kim K. Otsu J. W. Burdick Ali-akbar Agha-mohammadi 142 129 0 19 Oct 2020
Feedback MPC for Torque-Controlled Legged Robots R. Grandia Farbod Farshidian René Ranftl Marco Hutter 60 160 0 15 May 2019
FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots L. Han Fei Gao Boyu Zhou Shaojie Shen 39 192 0 06 Mar 2019
NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data Peter R. Florence John Carter J. Ware Russ Tedrake 48 49 0 25 Feb 2018
Optimization-Based Collision Avoidance Xiaojing Zhang Alexander Liniger Francesco Borrelli 43 333 0 09 Nov 2017
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 57 127 0 11 Oct 2017
Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning Helen Oleynikova Zachary Taylor M. Fehr Juan I. Nieto Roland Siegwart 68 612 0 11 Nov 2016
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion Farbod Farshidian Michael Neunert Alexander Winkler Gonzalo Rey J. Buchli 51 145 0 30 Sep 2016