Optimization-Based Control for Dynamic Legged Robots

21 November 2022

Yue Hu

Papers citing "Optimization-Based Control for Dynamic Legged Robots"

26 / 26 papers shown

Title
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study Dongyun Kang Gijeong Kim JongHun Choe Hajun Kim Hae-Won Park 2 0 0 18 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 36 4 0 04 May 2025
Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills Haoqi Yuan Yu Bai Yuhui Fu Bohan Zhou Yicheng Feng Xinrun Xu Yi Zhan Börje F. Karlsson Zongqing Lu LM&Ro 90 0 0 16 Mar 2025
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients Hajun Kim Dongyun Kang Min-Gyu Kim Gijeong Kim Hae-Won Park 65 1 0 24 Feb 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 50 11 0 10 Jan 2025
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics Junewhee Ahn Jaesug Jung Yisoo Lee Hokyun Lee Sami Haddadin Jaeheung Park AI4CE 34 0 0 31 Dec 2024
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans? Yuki Shirai Tong Zhao H. Suh Huaijiang Zhu Xinpei Ni Jiuguang Wang Max Simchowitz Tao Pang 60 3 0 10 Nov 2024
Control-oriented Clustering of Visual Latent Representation Han Qi Haocheng Yin Heng Yang SSL 55 2 0 07 Oct 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 51 4 0 24 Sep 2024
RPC: A Modular Framework for Robot Planning, Control, and Deployment S. Bang Carlos Gonzalez Gabriel Moore Dong Ho Kang Mingyo Seo Luis Sentis 27 0 0 16 Sep 2024
Physically-Consistent Parameter Identification of Robots in Contact Shahram Khorshidi Murad Dawood Benno Nederkorn Maren Bennewitz Majid Khadiv 34 1 0 15 Sep 2024
Robust Agility via Learned Zero Dynamics Policies Noel Csomay-Shanklin William D. Compton I. D. Rodriguez Eric R. Ambrose Yisong Yue Aaron D. Ames 48 1 0 10 Sep 2024
Humanoid Robots at work: where are we ? Fabrice R. Noreils 40 3 0 05 Apr 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
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
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
Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots Jingwen Zhang Junjie Shen Yeting Liu Dennis W. Hong 38 5 0 02 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
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach Wilson Jallet Antoine Bambade Nicolas Mansard Justin Carpentier 39 48 0 27 Oct 2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems Quentin Le Lidec Fabian Schramm Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 38 24 0 08 Mar 2022
Validating Robotics Simulators on Real-World Impacts Brian Acosta William Yang Michael Posa 48 31 0 01 Oct 2021
Real-Time Multi-Contact Model Predictive Control via ADMM Alp Aydinoglu Michael Posa 41 44 0 15 Sep 2021
Bundled Gradients through Contact via Randomized Smoothing H. Suh Tao Pang Russ Tedrake 83 52 0 11 Sep 2021
Trajectory Optimization with Optimization-Based Dynamics Taylor A. Howell Simon Le Cleac'h Sumeet Singh Peter R. Florence Zachary Manchester Vikas Sindhwani AI4CE 87 27 0 10 Sep 2021
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
PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance A. Raghunathan Devesh K. Jha Diego Romeres 30 26 0 06 Jun 2021