Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories

14 December 2023

Papers citing "Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories"

8 / 8 papers shown

Title
Motion Control of High-Dimensional Musculoskeletal Systems with Hierarchical Model-Based Planning Yunyue Wei Shanning Zhuang Vincent Zhuang Yanan Sui 29 0 0 13 May 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 68 1 0 24 Feb 2025
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion D. Youm Hyunyoung Jung Hyeongjun Kim Jemin Hwangbo Hae-Won Park Sehoon Ha 32 9 0 04 Nov 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
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 40 15 0 15 May 2023
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints João Moura Theodoros Stouraitis S. Vijayakumar 47 46 0 27 Sep 2021
Real-Time Multi-Contact Model Predictive Control via ADMM Alp Aydinoglu Michael Posa 41 44 0 15 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 83 79 0 12 Jul 2021