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2003.05481
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Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
IEEE Transactions on robotics (IEEE Trans. Robot.), 2020
11 March 2020
Carlos Mastalli
Ioannis Havoutis
Michele Focchi
D. Caldwell
Claudio Semini
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Papers citing
"Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control"
39 / 39 papers shown
Feelbert: A Feedback Linearization-based Embedded Real-Time Quadrupedal Locomotion Framework
Aristide Emanuele Casucci
F. Nesti
Mauro Marinoni
Giorgio Buttazzo
374
1
0
28 Apr 2025
MBC: Multi-Brain Collaborative Control for Quadruped Robots
Conference on Robot Learning (CoRL), 2024
Hang Liu
Yi Cheng
Rankun Li
Xiaowen Hu
Linqi Ye
Houde Liu
278
3
0
24 Sep 2024
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds
Ruiqi Yu
Qianshi Wang
Yizhen Wang
Zhicheng Wang
Jun Wu
Qiuguo Zhu
329
12
0
24 Sep 2024
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
Amir Iqbal
Sushant Veer
Christopher Niezrecki
Yan Gu
366
2
0
24 Mar 2024
Morphological Symmetries in Robotics
Daniel Felipe Ordoñez Apraez
Giulio Turrisi
Vladimir Kostic
Mario Martin
Antonio Agudo
Francesc Moreno-Noguer
Massimiliano Pontil
Claudio Semini
Carlos Mastalli
AI4CE
479
21
0
23 Feb 2024
DTC: Deep Tracking Control
Science Robotics (Sci. Robot.), 2023
Fabian Jenelten
Junzhe He
Farbod Farshidian
Marco Hutter
373
157
0
27 Sep 2023
Learning Vision-Based Bipedal Locomotion for Challenging Terrain
IEEE International Conference on Robotics and Automation (ICRA), 2023
Helei Duan
Bikram Pandit
M. S. Gadde
Bart Jaap van Marum
Jeremy Dao
Chanho Kim
Alan Fern
379
78
0
26 Sep 2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Ilyass Taouil
Giulio Turrisi
Daniel Schleich
Victor Barasuol
Claudio Semini
Sven Behnke
219
3
0
23 Jul 2023
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
IEEE Robotics and Automation Letters (RA-L), 2023
Dong-oh Kang
Jin Cheng
Miguel Zamora
Fatemeh Zargarbashi
Stelian Coros
OffRL
379
62
0
29 May 2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
IEEE Access (IEEE Access), 2023
Thomas Corbéres
Carlos Mastalli
W. Merkt
Ioannis Havoutis
Maurice F. Fallon
Nicolas Mansard
T. Flayols
S. Vijayakumar
Steve Tonneau
402
23
0
15 May 2023
FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Lander Vanroye
A. Sathya
J. De Schutter
Wilm Decré
295
47
0
29 Mar 2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jae-Koo Shim
Carlos Mastalli
Thomas Corbéres
Steve Tonneau
V. Ivan
S. Vijayakumar
180
7
0
24 Mar 2023
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model
A. Iqbal
Sushant Veer
Yan Gu
229
1
0
08 Jan 2023
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
IEEE Transactions on robotics (TRO), 2022
Shamel Fahmi
Victor Barasuol
Domingo Esteban
Octavio Villarreal
Claudio Semini
291
38
0
02 Dec 2022
Inverse-Dynamics MPC via Nullspace Resolution
IEEE Transactions on robotics (TRO), 2022
Carlos Mastalli
S. Chhatoi
Thomas Corbéres
Steve Tonneau
S. Vijayakumar
295
48
0
12 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control
IEEE Transactions on robotics (TRO), 2022
R. Grandia
Fabian Jenelten
Shao-hua Yang
Farbod Farshidian
Marco Hutter
428
256
0
17 Aug 2022
Real-time Neural Dense Elevation Mapping for Urban Terrain with Uncertainty Estimations
IEEE Robotics and Automation Letters (RA-L), 2022
Bowen Yang
Qingwen Zhang
R. Geng
Lujia Wang
Meilin Liu
3DV
309
21
0
06 Aug 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
IEEE Transactions on robotics (TRO), 2022
Fabian Jenelten
R. Grandia
Farbod Farshidian
Marco Hutter
312
86
0
28 Jun 2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Carlos Mastalli
W. Merkt
Guiyang Xin
Jae-Eul Shim
M. Mistry
Ioannis Havoutis
S. Vijayakumar
354
69
0
14 Mar 2022
Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach
IEEE International Conference on Robotics and Automation (ICRA), 2022
Yanbo Chen
Zhen Xu
Zhu Jian
Gengpan Tang
Yu Yangli
Anxing Xiao
Xueqian Wang
Bin Liang
296
41
0
08 Mar 2022
Whole-body model predictive control with rigid contacts via online switching time optimization
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
S. Katayama
T. Ohtsuka
266
22
0
02 Mar 2022
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
A. Iqbal
Sushant Veer
Yan Gu
292
7
0
31 Jan 2022
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems
S. Katayama
T. Ohtsuka
342
4
0
14 Dec 2021
Vision-based Navigation for a Small-scale Quadruped Robot Pegasus-Mini
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2021
Ganyu Deng
Jianwen Luo
Caiming Sun
Dongwei Pan
Longyao Peng
Ning Ding
Aidong Zhang
216
9
0
09 Oct 2021
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning
Nitish Sontakke
Sehoon Ha
198
1
0
27 Sep 2021
Advanced turning maneuver of a multi-legged robot using pitchfork bifurcation
S. Aoi
Ryoe Tomatsu
Y. Yabuuchi
Daiki Morozumi
Kota Okamoto
S. Fujiki
K. Senda
K. Tsuchiya
297
6
0
05 Jul 2021
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Scott Gilroy
Derek Lau
Lizhi Yang
Eduardo Izaguirre
Kristen Biermayer
...
M. Sun
Ayush Agrawal
Jun Zeng
Zhongyu Li
Koushil Sreenath
180
46
0
01 Jul 2021
Model Predictive Control with Environment Adaptation for Legged Locomotion
IEEE Access (IEEE Access), 2021
Niraj Rathod
Angelo Bratta
Michele Focchi
Mario Zanon
Octavio Villarreal
Claudio Semini
Alberto Bemporad
310
50
0
12 May 2021
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2021
Parker Ewen
Jean-Pierre Sleiman
Yuxin Chen
Wei-Chun Lu
Marco Hutter
Ram Vasudevan
209
18
0
23 Apr 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2021
Zhaoming Xie
Xingye Da
Buck Babich
Animesh Garg
M. van de Panne
436
81
0
20 Apr 2021
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
IEEE Transactions on robotics (IEEE Trans. Robot.), 2020
Yanran Ding
Abhishek Pandala
Chuanzheng Li
Young-Ha Shin
Hae-Won Park
408
175
0
18 Dec 2020
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
IEEE International Conference on Robotics and Automation (ICRA), 2020
R. Grandia
Andrew J. Taylor
Aaron D. Ames
Marco Hutter
438
157
0
30 Oct 2020
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots
Marko Bjelonic
R. Grandia
Oliver Harley
Cla Galliard
Samuel Zimmermann
Marco Hutter
309
115
0
13 Oct 2020
A Feasibility-Driven Approach to Control-Limited DDP
Autonomous Robots (Auton. Robots), 2020
Carlos Mastalli
W. Merkt
Josep Martí-Saumell
Henrique Ferrolho
J. Solà
Nicolas Mansard
S. Vijayakumar
473
59
0
01 Oct 2020
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
IEEE International Conference on Robotics and Automation (ICRA), 2020
Oguzhan Cebe
Carlo Tiseo
Guiyang Xin
Hsiu-Chin Lin
Joshua R. Smith
M. Mistry
252
27
0
28 Aug 2020
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
IEEE International Conference on Robotics and Automation (ICRA), 2019
Carlos Mastalli
Rohan Budhiraja
W. Merkt
Guilhem Saurel
Bilal Hammoud
M. Naveau
Justin Carpentier
Ludovic Righetti
S. Vijayakumar
Nicolas Mansard
344
367
0
11 Sep 2019
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
Rohan Budhiraja
Justin Carpentier
Carlos Mastalli
Nicolas Mansard
236
92
0
10 Apr 2019
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
246
170
0
09 Apr 2019
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
490
69
0
25 May 2018
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