Perceptive Locomotion through Nonlinear Model Predictive Control

17 August 2022

Marco Hutter

Papers citing "Perceptive Locomotion through Nonlinear Model Predictive Control"

25 / 75 papers shown

Title
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion Yunho Kim H. Oh J. Lee Jinhyeok Choi Gwanghyeon Ji Moonkyu Jung D. Youm Jemin Hwangbo 27 43 0 24 Aug 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 23 51 0 17 Aug 2023
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion Shafeef Omar Lorenzo Amatucci Giulio Turrisi Victor Barasuol Claudio Semini 17 2 0 27 Jul 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Shafeef Omar Lorenzo Amatucci Victor Barasuol Giulio Turrisi Claudio Semini 25 3 0 24 Jul 2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller Ilyass Taouil Giulio Turrisi Daniel Schleich Victor Barasuol Claudio Semini Sven Behnke 32 1 0 23 Jul 2023
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots David Hoeller Nikita Rudin Dhionis V. Sako Marco Hutter 43 132 0 26 Jun 2023
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion Dong-oh Kang Jin Cheng Miguel Zamora Fatemeh Zargarbashi Stelian Coros OffRL 29 32 0 29 May 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 42 15 0 15 May 2023
Enhancing Efficiency of Quadrupedal Locomotion over Challenging Terrains with Extensible Feet L. Kumar Sarvesh Sortee Titas Bera Ranjan Dasgupta 11 0 0 03 May 2023
Consensus Complementarity Control for Multi-Contact MPC Alp Aydinoglu Adam Wei Wei-Cheng Huang Michael Posa 34 23 0 21 Apr 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
Event-based Agile Object Catching with a Quadrupedal Robot Benedek Forrai Takahiro Miki Daniel Gehrig Marco Hutter Davide Scaramuzza 39 23 0 30 Mar 2023
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments Jeonghwan Kim Tianyu Li Sehoon Ha 18 2 0 28 Mar 2023
Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion Guillaume Bellegarda M. Shafiee A. Ijspeert 37 13 0 29 Dec 2022
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation Elena Arcari M. Minniti Anna Scampicchio Andrea Carron Farbod Farshidian Marco Hutter M. Zeilinger 22 29 0 18 Nov 2022
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
Adaptive Complexity Model Predictive Control Joseph Norby Ardalan Tajbakhsh Yanhao Yang Aaron M. Johnson 59 5 0 06 Sep 2022
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning Ryan Batke Fang-Yu Yu Jeremy Dao J. Hurst Ross L. Hatton Alan Fern Kevin R. Green 37 18 0 09 Jul 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 37 58 0 28 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller Nikita Rudin Chris Choy Anima Anandkumar Marco Hutter 35 32 0 16 Jun 2022
Elevation Mapping for Locomotion and Navigation using GPU Takahiro Miki Lorenz Wellhausen R. Grandia Fabian Jenelten Timon Homberger Marco Hutter 36 92 0 27 Apr 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
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 32 32 0 23 Oct 2021
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion Amanda Bouman M. Ginting Nikhilesh Alatur M. Palieri David D. Fan ... T. Pailevanian Sung-Kyun Kim K. Otsu J. W. Burdick Ali-akbar Agha-mohammadi 106 128 0 19 Oct 2020