ResearchTrend.AI
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
v1v2v3v4v5 (latest)

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization

Lorenzo Amatucci
Giulio Turrisi
Angelo Bratta
Victor Barasuol
Claudio Semini
ArXiv (abs)PDFHTML

Papers citing "Accelerating Model Predictive Control for Legged Robots through Distributed Optimization"

14 / 14 papers shown
Title
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
Ylenia Nisticò
J. C. V. Soares
Lorenzo Amatucci
Geoff Fink
Claudio Semini
110
2
0
15 Mar 2025
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
Ilyass Taouil
Lorenzo Amatucci
Majid Khadiv
Angela Dai
Victor Barasuol
Giulio Turrisi
Claudio Semini
86
1
0
14 Aug 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches
Zhigen Zhao
Shuo Cheng
Yan Ding
Ziyi Zhou
Shiqi Zhang
Danfei Xu
Ye Zhao
108
24
0
03 Apr 2024
Morphological Symmetries in Robotics
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
78
6
0
23 Feb 2024
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
Giuseppe L’Erario
Gabriele Nava
Giulio Romualdi
Fabio Bergonti
V. Razza
Stefano Dafarra
Daniele Pucci
95
6
0
23 Nov 2022
Inverse-Dynamics MPC via Nullspace Resolution
Inverse-Dynamics MPC via Nullspace Resolution
Carlos Mastalli
S. Chhatoi
Thomas Corbéres
Steve Tonneau
S. Vijayakumar
41
35
0
12 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control
Perceptive Locomotion through Nonlinear Model Predictive Control
R. Grandia
Fabian Jenelten
Shao-hua Yang
Farbod Farshidian
Marco Hutter
80
150
0
17 Aug 2022
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Giulio Romualdi
Stefano Dafarra
Giuseppe L’Erario
Ines Sorrentino
Silvio Traversaro
Daniele Pucci
119
43
0
09 Mar 2022
Model Predictive Control with Environment Adaptation for Legged Locomotion
Model Predictive Control with Environment Adaptation for Legged Locomotion
Niraj Rathod
Angelo Bratta
Michele Focchi
Mario Zanon
Octavio Villarreal
Claudio Semini
Alberto Bemporad
64
41
0
12 May 2021
Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems
Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems
John N. Nganga
Patrick M. Wensing
61
22
0
04 Mar 2021
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
Jean-Pierre Sleiman
Farbod Farshidian
M. Minniti
Marco Hutter
76
182
0
01 Mar 2021
Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics
Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics
Ziyi Zhou
Ye Zhao
108
23
0
18 Mar 2020
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Carlos Mastalli
Rohan Budhiraja
W. Merkt
Guilhem Saurel
Bilal Hammoud
M. Naveau
Justin Carpentier
Ludovic Righetti
S. Vijayakumar
Nicolas Mansard
76
294
0
11 Sep 2019
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
Farbod Farshidian
E. Jelavic
Asutosh Satapathy
Markus Giftthaler
J. Buchli
64
128
0
11 Oct 2017