Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients

24 February 2025

Papers citing "Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients"

14 / 14 papers shown

Title
Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning Taegeun Yang Jiwoo Hwang Jeil Jeong Minsung Yoon Sung-Eui Yoon 46 0 0 18 Jun 2025
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 136 1 0 18 May 2025
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 102 5 0 14 Dec 2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems Nathan J. Kong J. Joe Payne James Zhu Aaron M. Johnson 94 17 0 12 Jun 2023
Contact Models in Robotics: a Comparative Analysis Quentin Le Lidec Wilson Jallet Louis Montaut Ivan Laptev Cordelia Schmid Justin Carpentier 100 29 0 13 Apr 2023
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 106 149 0 21 Nov 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models Tao Pang H.J. Terry Suh Lujie Yang Russ Tedrake 142 106 0 22 Jun 2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems Quentin Le Lidec Fabian Schramm Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 108 24 0 08 Mar 2022
Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation Sirui Chen Keenon Werling A. Wu Chenxi Liu 92 6 0 20 Feb 2022
Validating Robotics Simulators on Real-World Impacts Brian Acosta William Yang Michael Posa 123 33 0 01 Oct 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 186 85 0 12 Jul 2021
gradSim: Differentiable simulation for system identification and visuomotor control Krishna Murthy Jatavallabhula Miles Macklin Florian Golemo Vikram S. Voleti Petrini ... Erleben Liam Paull Florian Shkurti Derek Nowrouzezahrai Sanja Fidler 54 104 0 06 Apr 2021
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 164 1,182 0 21 Oct 2020
Preparing for the Unknown: Learning a Universal Policy with Online System Identification Wenhao Yu Jie Tan Chenxi Liu Greg Turk OffRL 108 309 0 08 Feb 2017