Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots

11 July 2022

Papers citing "Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots"

20 / 20 papers shown

Title
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 36 4 0 04 May 2025
Reachable Sets-based Trajectory Planning Combining Reinforcement Learning and iLQR Yifan Jiang Yang Li S. Yuan Jingjia Teng Hongmao Qin Yougang Bian 31 0 0 19 Mar 2025
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo John Z. Zhang Taylor A. Howell Zeji Yi Chaoyi Pan Guanya Shi Guannan Qu Tom Erez Yuval Tassa Zachary Manchester 56 1 0 06 Mar 2025
Risk-aware MPPI for Stochastic Hybrid Systems Hardik Parwana Mitchell Black Bardh Hoxha Hideki Okamoto Georgios Fainekos Danil Prokhorov Dimitra Panagou 26 1 0 14 Nov 2024
Path Integral Control for Hybrid Dynamical Systems Hongzhe Yu Diana Frias Franco Aaron M. Johnson Yongxin Chen 31 0 0 01 Nov 2024
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems J. Joe Payne James Zhu Nathan J. Kong Aaron M. Johnson 31 0 0 25 Oct 2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation Zachary Olkin Aaron D. Ames 34 1 0 18 Sep 2024
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback Jenny Zhang Steve Heim Seungmin Jeon Sangbae Kim 26 2 0 13 Feb 2024
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 38 5 0 14 Dec 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 44 15 0 04 Sep 2023
Geometrically Modulable Gait Design for Quadrupeds H. Prasad Ross L. Hatton Kaushik Jayaram 20 0 0 28 Aug 2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems Nathan J. Kong J. Joe Payne James Zhu Aaron M. Johnson 16 16 0 12 Jun 2023
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos John Z. Zhang Shuo Yang Gengshan Yang Arun L. Bishop Deva Ramanan Zachary Manchester 49 18 0 27 Apr 2023
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots James Zhu J. Joe Payne Aaron M. Johnson 18 4 0 01 Apr 2023
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots Yanhao Yang Joseph Norby Justin K. Yim Aaron M. Johnson 18 5 0 08 Mar 2023
Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM Zhen Huang Shaojie Shen Jun Ma 16 28 0 11 Jan 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
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP He Li Tingnan Zhang Wenhao Yu Patrick M. Wensing 42 12 0 28 Sep 2022
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 81 79 0 12 Jul 2021
Model Hierarchy Predictive Control of Robotic Systems He Li Robert J. Frei Patrick M. Wensing 42 47 0 17 Oct 2020