Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method

26 May 2025

Papers citing "Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method"

7 / 7 papers shown

Title
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 66 7 0 25 Jul 2023
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation Jean-Pierre Sleiman Farbod Farshidian M. Minniti Marco Hutter 70 181 0 01 Mar 2021
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots Marko Bjelonic R. Grandia Oliver Harley Cla Galliard Samuel Zimmermann Marco Hutter 96 69 0 13 Oct 2020
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion Teguh Santoso Lembono Carlos Mastalli Pierre Fernbach Nicolas Mansard Sylvain Calinon 30 20 0 31 Jan 2020
Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control Donghyun Kim J. Carlo Benjamin Katz Gerardo Bledt Sangbae Kim 90 319 0 14 Sep 2019
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 64 293 0 11 Sep 2019
Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control D. Kim Steven Jens Jorgensen Jaemin Lee Junhyeok Ahn Jianwen Luo Luis Sentis 71 106 0 23 Jan 2019