Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control

Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control

22 September 2024

Papers citing "Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control"

16 / 16 papers shown

Title
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Tianze Wang Christian Hubicki 53 0 0 19 May 2025
RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control S. Bang Carlos Arribalzaga Jové Luis Sentis 51 2 0 25 Jul 2024
Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation James Foster Stephen McCrory Christian DeBuys Sylvain Bertrand Robert Griffin 46 1 0 13 May 2024
Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking Bart Jaap van Marum Aayam Shrestha Helei Duan Pranay Dugar Jeremy Dao Alan Fern 92 17 0 30 Apr 2024
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control Zhaoyuan Gu Yuntian Zhao Yipu Chen Rongming Guo Jennifer K. Leestma Gregory S Sawicki Ye Zhao 63 9 0 24 Mar 2024
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research Junheng Li Junchao Ma Omar Kolt Manas Shah Quan Nguyen 76 16 0 19 Dec 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 56 10 0 13 Oct 2023
A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies Myeong-Ju Kim Daegyu Lim G. Park Kwanwoo Lee Jaeheung Park 58 7 0 25 Jul 2023
Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid Amartya Purushottam Yeongtae Jung Christopher Xu Joao Ramos 48 15 0 03 Jul 2023
FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control Lander Vanroye A. Sathya J. De Schutter Wilm Decré 22 19 0 29 Mar 2023
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking Yanran Ding Charles Khazoom Matthew Chignoli Sangbae Kim 52 24 0 30 May 2022
Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante Alexis Duburcq Fabian Schramm Guilhem Boéris Nicolas Bredèche Y. Chevaleyre 49 8 0 02 Mar 2022
On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning Diego Ferigo Raffaello Camoriano Paolo Maria Viceconte Daniele Calandriello Silvio Traversaro Lorenzo Rosasco Daniele Pucci 43 15 0 29 Apr 2021
Generalized Conflict-directed Search for Optimal Ordering Problems Jingkai Chen Yuening Zhang Cheng Fang B. Williams 31 37 0 31 Mar 2021
Model Hierarchy Predictive Control of Robotic Systems He Li Robert J. Frei Patrick M. Wensing 71 47 0 17 Oct 2020
Push Recovery of a Humanoid Robot Based on Model Predictive Control and Capture Point M. Shafiee-Ashtiani A. Yousefi-Koma M. Panahi Majid Khadiv 36 30 0 23 Dec 2016