Model Predictive Control with Environment Adaptation for Legged
Locomotion

Model Predictive Control with Environment Adaptation for Legged Locomotion

12 May 2021

Octavio Villarreal

Claudio Semini

Alberto Bemporad

Papers citing "Model Predictive Control with Environment Adaptation for Legged Locomotion"

13 / 13 papers shown

Title
Feelbert: A Feedback Linearization-based Embedded Real-Time Quadrupedal Locomotion Framework Aristide Emanuele Casucci F. Nesti Mauro Marinoni Giorgio Buttazzo 57 0 0 28 Apr 2025
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics Junewhee Ahn Jaesug Jung Yisoo Lee Hokyun Lee Sami Haddadin Jaeheung Park AI4CE 49 0 0 31 Dec 2024
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control Giulio Turrisi Lucas Schulze V. S. Medeiros Claudio Semini Victor Barasuol 51 2 0 28 Mar 2024
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 31 6 0 18 Mar 2024
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion Giulio Turrisi Valerio Modugno Lorenzo Amatucci Dimitrios Kanoulas Claudio Semini 53 1 0 18 Mar 2024
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 43 9 0 13 Oct 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Shafeef Omar Lorenzo Amatucci Victor Barasuol Giulio Turrisi Claudio Semini 30 3 0 24 Jul 2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller Ilyass Taouil Giulio Turrisi Daniel Schleich Victor Barasuol Claudio Semini Sven Behnke 37 1 0 23 Jul 2023
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
Inverse-Dynamics MPC via Nullspace Resolution Carlos Mastalli S. Chhatoi Thomas Corbéres Steve Tonneau S. Vijayakumar 32 34 0 12 Sep 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 47 54 0 14 Mar 2022
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance Hua Chen Zejun Hong Shunpeng Yang Patrick M. Wensing Wei Zhang 32 16 0 28 Jan 2022
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality Michele Focchi Romeo Orsolino Marco Camurri Victor Barasuol Carlos Mastalli D. Caldwell Claudio Semini 47 67 0 25 May 2018