Agile Maneuvers in Legged Robots: a Predictive Control Approach

14 March 2022

Papers citing "Agile Maneuvers in Legged Robots: a Predictive Control Approach"

34 / 34 papers shown

Title
Endpoint-Explicit Differential Dynamic Programming via Exact Resolution Maria Parilli Sergi Martinez Carlos Mastalli 62 0 0 05 Mar 2025
Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization Ioannis Tsikelis Konstantinos Chatzilygeroudis 33 0 0 03 Oct 2024
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation Fukang Liu Zhaoyuan Gu Yilin Cai Ziyi Zhou Shijie Zhao Hyunyoung Jung Sehoon Ha Yue Chen Danfei Xu Ye Zhao 29 11 0 30 Sep 2024
Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots Tara Bartlett Ian R. Manchester 36 0 0 16 Sep 2024
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 39 0 0 14 Aug 2024
Mastering Agile Jumping Skills from Simple Practices with Iterative Learning Control Chuong H. Nguyen Lingfan Bao Quan Nguyen 38 1 0 05 Aug 2024
Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers S. Bang Jaemin Lee Carlos Gonzalez Luis Sentis 41 5 0 23 Jul 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 16 0 03 Jun 2024
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion Alexander L. Mitchell W. Merkt Aristotelis Papatheodorou Ioannis Havoutis Ingmar Posner 26 4 0 29 May 2024
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping Zhicheng He Jiayang Wu Jingwen Zhang Shibowen Zhang Yapeng Shi Hangxin Liu Lining Sun Yao Su Xiaokun Leng 43 10 0 20 May 2024
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion Shunpeng Yang Zejun Hong Sen Li Patrick M. Wensing Wei Zhang Hua Chen 18 0 0 31 Mar 2024
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots Sergi Martinez Robert J. Griffin Carlos Mastalli 32 2 0 25 Mar 2024
Optimizing Dynamic Balance in a Rat Robot via the Lateral Flexion of a Soft Actuated Spine Yuhong Huang Zhenshan Bing Zitao Zhang Genghang Zhuang Kai-Qi Huang Alois Knoll 18 1 0 01 Mar 2024
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control Sotaro Katayama Noriaki Takasugi Mitsuhisa Kaneko Masaya Kinoshita 25 1 0 14 Dec 2023
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics Aristotelis Papatheodorou W. Merkt Alexander L. Mitchell Ioannis Havoutis 15 2 0 09 Oct 2023
Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped Ioannis Dadiotis Arturo Laurenzi Nikos Tsagarakis 32 6 0 04 Oct 2023
DTC: Deep Tracking Control Fabian Jenelten Junzhe He Farbod Farshidian Marco Hutter 24 73 0 27 Sep 2023
Efficient Reinforcement Learning for Jumping Monopods Riccardo Bussola Michele Focchi Andrea Del Prete Daniele Fontanelli Luigi Palopoli 42 2 0 13 Sep 2023
Optimal Control for Articulated Soft Robots S. Chhatoi Michele Pierallini Franco Angelini Carlos Mastalli M. Garabini 16 2 0 02 Jun 2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection Thomas Corbéres Carlos Mastalli W. Merkt Ioannis Havoutis Maurice F. Fallon Nicolas Mansard T. Flayols S. Vijayakumar Steve Tonneau 40 15 0 15 May 2023
Enabling safe walking rehabilitation on the exoskeleton Atalante: experimental results M. Brunet Marine Pétriaux F. D. Meglio N. Petit 26 1 0 17 Apr 2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection Jae-Koo Shim Carlos Mastalli Thomas Corbéres Steve Tonneau V. Ivan S. Vijayakumar 32 5 0 24 Mar 2023
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion Angelo Bratta Avadesh Meduri Michele Focchi Ludovic Righetti Claudio Semini 32 3 0 30 Sep 2022
MPC with Sensor-Based Online Cost Adaptation Avadesh Meduri Huaijiang Zhu Armand Jordana Ludovic Righetti 28 4 0 20 Sep 2022
Inverse-Dynamics MPC via Nullspace Resolution Carlos Mastalli S. Chhatoi Thomas Corbéres Steve Tonneau S. Vijayakumar 14 34 0 12 Sep 2022
Adaptive Complexity Model Predictive Control Joseph Norby Ardalan Tajbakhsh Yanhao Yang Aaron M. Johnson 53 5 0 06 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 29 142 0 17 Aug 2022
Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots Angelo Bratta Michele Focchi Niraj Rathod Claudio Semini 18 6 0 20 Jul 2022
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots Nathan J. Kong Chuanzheng Li Aaron M. Johnson 30 32 0 11 Jul 2022
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation Alexander L. Mitchell W. Merkt Mathieu Geisert Siddhant Gangapurwala Martin Engelcke Oiwi Parker Jones Ioannis Havoutis Ingmar Posner 16 3 0 02 May 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 27 16 0 28 Jan 2022
A Versatile Co-Design Approach For Dynamic Legged Robots Traiko Dinev Carlos Mastalli V. Ivan Steve Tonneau S. Vijayakumar 19 18 0 08 Mar 2021
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 29 25 0 15 Jan 2021
A Feasibility-Driven Approach to Control-Limited DDP Carlos Mastalli W. Merkt Josep Martí-Saumell Henrique Ferrolho J. Solà Nicolas Mansard S. Vijayakumar 10 43 0 01 Oct 2020