Whole-Body Nonlinear Model Predictive Control Through Contacts for
Quadrupeds

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

7 December 2017

Michael Neunert

Markus Giftthaler

C. D. Bellicoso

Christian Gehring

Marco Hutter

Papers citing "Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds"

17 / 17 papers shown

Title
Quadrupedal Spine Control Strategies: Exploring Correlations Between System Dynamic Responses and Human Perspectives Nicholas Hafner Chaoran Liu C. Ishi H. Ishiguro 92 0 0 05 May 2025
Quattro: Transformer-Accelerated Iterative Linear Quadratic Regulator Framework for Fast Trajectory Optimization Yue Wang Hoayu Wang Zhaoxing Li 75 0 0 02 Apr 2025
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics Junewhee Ahn Jaesug Jung Yisoo Lee Hokyun Lee Sami Haddadin Jaeheung Park AI4CE 58 0 0 31 Dec 2024
Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes Juntao He Baxi Chong Jianfeng Lin Zhaochen Xu Hosain Bagheri Esteban Flores Daniel I. Goldman 67 3 0 11 Nov 2024
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 66 0 0 14 Aug 2024
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion Giulio Turrisi Valerio Modugno Lorenzo Amatucci Dimitrios Kanoulas Claudio Semini 57 1 0 18 Mar 2024
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 53 16 0 04 Sep 2023
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 24 36 0 09 Apr 2019
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain Alexander Winkler Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 16 119 0 07 Apr 2019
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control Markus Giftthaler Michael Neunert M. Stäuble J. Buchli 24 58 0 12 Jan 2018
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control Markus Giftthaler Michael Neunert M. Stäuble J. Buchli Moritz Diehl 38 100 0 29 Nov 2017
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation Markus Giftthaler Michael Neunert M. Stäuble M. Frigerio Claudio Semini J. Buchli 34 62 0 12 Sep 2017
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion Farbod Farshidian Michael Neunert Alexander Winkler Gonzalo Rey J. Buchli 25 144 0 30 Sep 2016
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds Michael Neunert Farbod Farshidian Alexander Winkler J. Buchli 18 120 0 15 Jul 2016
Projection based whole body motion planning for legged robots D. Pardo Michael Neunert Alexander Winkler J. Buchli 20 6 0 06 Oct 2015
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 37 97 0 15 Jul 2015
Evaluating direct transcription and nonlinear optimization methods for robot motion planning D. Pardo Lukas Möller Michael Neunert Alexander Winkler J. Buchli 13 72 0 22 Apr 2015