Feedback MPC for Torque-Controlled Legged Robots

Feedback MPC for Torque-Controlled Legged Robots

15 May 2019

Farbod Farshidian

Marco Hutter

Papers citing "Feedback MPC for Torque-Controlled Legged Robots"

8 / 8 papers shown

Title
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 77 6 0 24 Sep 2024
Sensitivity of Legged Balance Control to Uncertainties and Sampling Period N. Villa Johannes Englsberger Pierre-Brice Wieber 17 13 0 03 Jul 2019
Frequency-Aware Model Predictive Control R. Grandia Farbod Farshidian Alexey Dosovitskiy René Ranftl Marco Hutter 41 49 0 12 Sep 2018
Optimization-Based Autonomous Racing of 1:43 Scale RC Cars Alexander Liniger A. Domahidi M. Morari 37 484 0 20 Nov 2017
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
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints Sean Mason Nicholas Rotella S. Schaal Ludovic Righetti 25 38 0 27 Jan 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
Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops Michele Focchi G. Medrano-Cerda T. Cunha M. Frigerio J. Buchli D. Caldwell Claudio Semini 28 74 0 16 Jun 2014