iLQR for Piecewise-Smooth Hybrid Dynamical Systems

v1v2 (latest)

iLQR for Piecewise-Smooth Hybrid Dynamical Systems

26 March 2021

Aaron M. Johnson

ArXiv (abs)PDF HTML

Papers citing "iLQR for Piecewise-Smooth Hybrid Dynamical Systems"

5 / 5 papers shown

Title
Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Zachary Olkin Aaron D. Ames 86 0 0 11 Jun 2025
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization Michael R. Turski Joseph Norby Aaron M. Johnson 55 3 0 11 Apr 2023
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots James Zhu J. Joe Payne Aaron M. Johnson 101 5 0 01 Apr 2023
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 106 149 0 21 Nov 2022
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots Nathan J. Kong Chuanzheng Li Aaron M. Johnson 69 33 0 11 Jul 2022