Accelerating Model Predictive Control for Legged Robots through Distributed Optimization

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Accelerating Model Predictive Control for Legged Robots through Distributed Optimization

18 March 2024

Lorenzo Amatucci

Giulio Turrisi

Victor Barasuol

Claudio Semini

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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 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 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 Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 108 24 0 03 Apr 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 78 6 0 23 Feb 2024
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion Giuseppe L’Erario Gabriele Nava Giulio Romualdi Fabio Bergonti V. Razza Stefano Dafarra Daniele Pucci 97 6 0 23 Nov 2022
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 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 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 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 John N. Nganga Patrick M. Wensing 61 22 0 04 Mar 2021
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 Ziyi Zhou Ye Zhao 108 23 0 18 Mar 2020
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 Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 64 128 0 11 Oct 2017