Dynamic Complementarity Conditions and Whole-Body Trajectory
Optimization for Humanoid Robot Locomotion

Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion

7 July 2022

Stefano Dafarra

Giulio Romualdi

Daniele Pucci

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Papers citing "Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion"

16 / 16 papers shown

Title
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment Giulio Romualdi Stefano Dafarra Giuseppe L’Erario Ines Sorrentino Silvio Traversaro Daniele Pucci 119 43 0 09 Mar 2022
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control Giulio Romualdi Stefano Dafarra Daniele Pucci 47 8 0 30 May 2021
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics Brahayam Pontón Majid Khadiv Avadesh Meduri Ludovic Righetti 60 60 0 02 Oct 2020
Predictive Whole-Body Control of Humanoid Robot Locomotion Stefano Dafarra 40 3 0 16 Apr 2020
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach Stefano Dafarra Giulio Romualdi Giorgio Metta Daniele Pucci 104 9 0 10 Mar 2020
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 76 294 0 11 Sep 2019
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics Rohan Budhiraja Justin Carpentier Carlos Mastalli Nicolas Mansard 62 84 0 10 Apr 2019
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization Bernardo Aceituno-Cabezas Carlos Mastalli Hongkai Dai Michele Focchi A. Radulescu Darwin G. Caldwell J. Cappelletto J. Grieco Gerardo Fernández-López Claudio Semini 80 151 0 09 Apr 2019
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations Reihaneh Mirjalili A. Yousefi-Koma F. A. Shirazi A. Nikkhah Fatemeh Nazemi Majid Khadiv 37 10 0 24 Oct 2018
DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills Xue Bin Peng Pieter Abbeel Sergey Levine M. van de Panne AI4CE 246 499 0 08 Apr 2018
An MPC Walking Framework With External Contact Forces Sean Mason Nicholas Rotella S. Schaal Ludovic Righetti 33 20 0 26 Dec 2017
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds Michael Neunert M. Stäuble Markus Giftthaler C. D. Bellicoso Jan Carius Christian Gehring Marco Hutter J. Buchli 62 252 0 07 Dec 2017
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 64 128 0 11 Oct 2017
When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC Stéphane Caron Quang Pham 55 31 0 15 Sep 2016
Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations Stéphane Caron A. Kheddar 51 68 0 29 Jul 2016
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 50 98 0 15 Jul 2015

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