The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors

19 April 2021

Donghyun Kim

Papers citing "The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors"

23 / 73 papers shown

Title
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
Open Continuum Robotics -- One Actuation Module to Create them All R. Grassmann Chen Shentu Taqi Hamoda Puspita Triana Dewi J. Burgner-Kahrs 30 9 0 24 Apr 2023
Learning and Adapting Agile Locomotion Skills by Transferring Experience Laura M. Smith J. Kew Tianyu Li Linda Luu Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 37 55 0 19 Apr 2023
Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots Jingwen Zhang Junjie Shen Yeting Liu Dennis W. Hong 46 5 0 02 Apr 2023
Kinodynamics-based Pose Optimization for Humanoid Loco-manipulation Junheng Li Quan Nguyen 29 6 0 09 Mar 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik Koushil Sreenath 32 125 0 06 Mar 2023
Evaluation of Legged Robot Landing Capability Under Aggressive Linear and Angular Velocities Keran Ye Konstantinos Karydis 16 3 0 24 Feb 2023
Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion Yu-Ming Chen Jian-bo Hu Michael Posa 43 6 0 05 Jan 2023
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots Qiayuan Liao Zhefeng Cao Hua Chen Wei Zhang 32 0 0 11 Oct 2022
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion Daniel Marew Misha Lvovsky Shangqun Yu Shotaro Sessions Donghyun Kim 11 0 0 07 Oct 2022
Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC Junheng Li Quan Nguyen 39 19 0 18 Sep 2022
Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots Junheng Li Quan Nguyen 53 13 0 18 Sep 2022
Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion Guillermo Colin Youngwoo Sim Joao Ramos 37 4 0 14 Sep 2022
An Optimal Motion Planning Framework for Quadruped Jumping Zhitao Song Linzhu Yue Guangli Sun Yihu Ling Hongshuo Wei Linhai Gui Yun-Hui Liu 26 19 0 25 Jul 2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions Charles Khazoom Daniel Gonzalez Diaz Yanran Ding Sangbae Kim 53 31 0 01 Jul 2022
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking Yanran Ding Charles Khazoom Matthew Chignoli Sangbae Kim 44 24 0 30 May 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 49 230 0 05 May 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 26 3 0 25 Feb 2022
CLOVER Robot: A Minimally Actuated Jumping Robotic Platform for Space Exploration A. Macario-Rojas B. Parslew Andrew Weightman Katharine L. Smith 8 4 0 11 Jan 2022
Real-time Optimal Landing Control of the MIT Mini Cheetah Seungmin Jeon Sangbae Kim Donghyun Kim 48 6 0 06 Oct 2021
Balancing Control and Pose Optimization for Wheel-legged Robots Navigating High Obstacles Junheng Li Junchao Ma Quan Nguyen 42 11 0 21 Sep 2021
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots Ke Wang Guiyang Xin Songyan Xin M. Mistry S. Vijayakumar Petar Kormushev 36 13 0 09 Sep 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 100 80 0 12 Jul 2021