Passive Whole-body Control for Quadruped Robots: Experimental Validation
over Challenging Terrain

Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain

2 November 2018

Carlos Mastalli

Claudio Semini

Papers citing "Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain"

8 / 8 papers shown

Title
Feelbert: A Feedback Linearization-based Embedded Real-Time Quadrupedal Locomotion Framework Aristide Emanuele Casucci F. Nesti Mauro Marinoni Giorgio Buttazzo 76 0 0 28 Apr 2025
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization Bernardo Aceituno-Cabezas Carlos Mastalli Hongkai Dai Michele Focchi A. Radulescu Darwin G. Caldwell J. Cappelletto J. Grieco Gerardo Fernández-López Claudio Semini 41 150 0 09 Apr 2019
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints Donghyun Kim Jaemin Lee Orion Campbell Hochul Hwang Luis Sentis 41 41 0 03 Jul 2018
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality Michele Focchi Romeo Orsolino Marco Camurri Victor Barasuol Carlos Mastalli D. Caldwell Claudio Semini 56 67 0 25 May 2018
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 28 125 0 11 Oct 2017
Robust Whole-Body Motion Control of Legged Robots Farbod Farshidian E. Jelavic Alexander Winkler J. Buchli 18 30 0 07 Mar 2017
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid Alexander Herzog Nicholas Rotella Sean Mason F. Grimminger S. Schaal Ludovic Righetti 35 256 0 27 Oct 2014
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion S. Kuindersma Frank Permenter Russ Tedrake 43 243 0 07 Nov 2013