Adaptive CLF-MPC With Application To Quadrupedal Robots

Adaptive CLF-MPC With Application To Quadrupedal Robots

8 December 2021

Farbod Farshidian

Marco Hutter

Papers citing "Adaptive CLF-MPC With Application To Quadrupedal Robots"

11 / 11 papers shown

Title
Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots Jing Cheng Yasser G. Alqaham Zhenyu Gan 23 1 0 27 May 2024
Robust Control using Control Lyapunov Function and Hamilton-Jacobi Reachability Chun-Ming Yang Pranav A. Bhounsule 30 1 0 08 Apr 2024
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 23 9 0 13 Oct 2023
Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion Vyacheslav Kovalev Anna Shkromada H. Ouerdane Pavel Osinenko 21 2 0 15 Jul 2023
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization Mohamed Elobaid Giulio Romualdi Gabriele Nava Lorenzo Rapetti Hosameldin Awadalla Omer Mohamed Daniele Pucci 20 6 0 18 May 2023
An NMPC-ECBF Framework for Dynamic Motion Planning and Execution in vision-based Human-Robot Collaboration Dianhao Zhang Mien Van Pantelis Sopasakis Seán F. McLoone 21 1 0 14 Apr 2023
Multi-embodiment Legged Robot Control as a Sequence Modeling Problem Chenyi Yu Weinan Zhang H. Lai Zheng Tian L. Kneip Jun Wang 31 15 0 18 Dec 2022
Online Damage Recovery for Physical Robots with Hierarchical Quality-Diversity Maxime Allard Simón C. Smith Konstantinos Chatzilygeroudis Bryan Lim Antoine Cully 27 13 0 18 Oct 2022
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots Chenyu Yang Guo Ning Sue Zhongyu Li Lizhi Yang Haotian Shen Yufeng Chi Akshara Rai Jun Zeng K. Sreenath 53 29 0 29 Jun 2022
Hierarchical Quality-Diversity for Online Damage Recovery Maxime Allard Simón C. Smith Konstantinos Chatzilygeroudis Antoine Cully 22 12 0 12 Apr 2022
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 117 78 0 04 Mar 2019