Planar Bipedal Locomotion with Nonlinear Model Predictive Control:
Online Gait Generation using Whole-Body Dynamics

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Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics

14 March 2022

Manuel Y. Galliker

Noel Csomay-Shanklin

Andrew J. Taylor

Farbod Farshidian

Marco Hutter

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Papers citing "Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics"

13 / 13 papers shown

Title
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 129 10 0 17 Feb 2025
Overcoming Slow Decision Frequencies in Continuous Control: Model-Based Sequence Reinforcement Learning for Model-Free Control Devdhar Patel H. Siegelmann OffRL 91 0 0 11 Oct 2024
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation Jean-Pierre Sleiman Farbod Farshidian M. Minniti Marco Hutter 76 182 0 01 Mar 2021
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization Xiaobin Xiong Aaron D. Ames 56 79 0 23 Jan 2021
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking Jenna Reher Aaron D. Ames 59 22 0 18 Oct 2020
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization Henrique Ferrolho V. Ivan W. Merkt Ioannis Havoutis S. Vijayakumar AI4CE 47 19 0 11 Oct 2020
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion Octavio Antonio Villarreal-Magaña Victor Barasuol Patrick M. Wensing Darwin G. Caldwell Claudio Semini 100 75 0 30 Sep 2019
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control Carlos Mastalli Rohan Budhiraja W. Merkt Guilhem Saurel Bilal Hammoud M. Naveau Justin Carpentier Ludovic Righetti S. Vijayakumar Nicolas Mansard 73 294 0 11 Sep 2019
Feedback MPC for Torque-Controlled Legged Robots R. Grandia Farbod Farshidian René Ranftl Marco Hutter 65 162 0 15 May 2019
Dynamic Walking with Compliance on a Cassie Bipedal Robot Jake Reher Wen-Loong Ma Aaron D. Ames 62 61 0 25 Apr 2019
MPC for Humanoid Gait Generation: Stability and Feasibility Nicola Scianca Daniele De Simone L. Lanari G. Oriolo 73 104 0 24 Jan 2019
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway Yukai Gong R. Hartley Xingye Da Ayonga Hereid Omar Harib Jiunn-Kai Huang J. Grizzle 57 190 0 19 Sep 2018
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion Farbod Farshidian Michael Neunert Alexander Winkler Gonzalo Rey J. Buchli 53 145 0 30 Sep 2016