Related papers: Optimal Control for Quadruped Locomotion using LTV…

We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is…

Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery terrain, is limited by the difficulty of modeling terrain…

This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…

This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion that formulates a hierarchical sequence of optimization…

Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…

This paper presents a novel Adaptive-frequency MPC framework for bipedal locomotion over terrain with uneven stepping stones. In detail, we intend to achieve adaptive foot placement and gait period for bipedal periodic walking gait with…

We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…

This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializations, we develop a nonlinear trajectory optimization-based…

Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…

This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal maneuvers. While MPC-based foot placement controllers have…

This paper presents an efficient suboptimal model predictive control (MPC) algorithm for nonlinear switched systems subject to minimum dwell time constraints (MTC). While MTC are required for most physical systems due to stability, power…

In this paper, previous works on the Model Predictive Control (MPC) and the Divergent Component of Motion (DCM) for bipedal walking control are extended. To this end, we employ a single MPC which uses a combination of Center of Pressure…

This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…

Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the…

This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…