Inverse-Dynamics MPC via Nullspace Resolution

Inverse-Dynamics MPC via Nullspace Resolution

12 September 2022

Carlos Mastalli

Thomas Corbéres

Steve Tonneau

Papers citing "Inverse-Dynamics MPC via Nullspace Resolution"

19 / 19 papers shown

Title
Interior Point Differential Dynamic Programming, Redux Ming Xu Stephen Gould Iman Shames 30 0 0 11 Apr 2025
Endpoint-Explicit Differential Dynamic Programming via Exact Resolution Maria Parilli Sergi Martinez Carlos Mastalli 62 0 0 05 Mar 2025
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control Xinyu Jia Wenxin Wang Jun Yang Yongping Pan Haoyong Yu 16 0 0 23 Oct 2024
Rapid and Robust Trajectory Optimization for Humanoids Bohao Zhang Ram Vasudevan 42 4 0 31 Aug 2024
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots Sergi Martinez Robert J. Griffin Carlos Mastalli 34 2 0 25 Mar 2024
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 26 6 0 18 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 47 13 0 06 Mar 2024
Morphological Symmetries in Robotics Daniel Felipe Ordoñez Apraez Giulio Turrisi Vladimir Kostic Mario Martin Antonio Agudo Francesc Moreno-Noguer Massimiliano Pontil Claudio Semini Carlos Mastalli AI4CE 37 6 0 23 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 41 5 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 20 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
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming He Li Wenhao Yu Tingnan Zhang Patrick M. Wensing 27 12 0 14 Sep 2023
Optimal Control for Articulated Soft Robots S. Chhatoi Michele Pierallini Franco Angelini Carlos Mastalli M. Garabini 18 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 42 15 0 15 May 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 35 5 0 24 Mar 2023
On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation Shubham Singh R. Russell Patrick M. Wensing 14 7 0 12 Feb 2023
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 30 141 0 21 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
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors Noel Csomay-Shanklin Victor D. Dorobantu Aaron D. Ames 31 12 0 23 Sep 2022