A Feasibility-Driven Approach to Control-Limited DDP

1 October 2020

Papers citing "A Feasibility-Driven Approach to Control-Limited DDP"

22 / 22 papers shown

Title
Task and Joint Space Dual-Arm Compliant Control Alexander L. Mitchell Tobit Flatscher Ingmar Posner 28 0 0 29 Apr 2025
Endpoint-Explicit Differential Dynamic Programming via Exact Resolution Maria Parilli Sergi Martinez Carlos Mastalli 62 0 0 05 Mar 2025
Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization Ioannis Tsikelis Konstantinos Chatzilygeroudis 33 0 0 03 Oct 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 44 40 0 10 Jun 2024
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion Alexander L. Mitchell W. Merkt Aristotelis Papatheodorou Ioannis Havoutis Ingmar Posner 31 4 0 29 May 2024
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots Sergi Martinez Robert J. Griffin Carlos Mastalli 40 2 0 25 Mar 2024
Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks Seohee Han Maged Iskandar Jinoh Lee Min Jun Kim 46 2 0 13 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 52 13 0 06 Mar 2024
Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication Haichao Liu Zhen Huang Zicheng Zhu Yuling Li Shaojie Shen Jun Ma 25 9 0 17 Jan 2024
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 49 9 0 14 Dec 2023
RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments Apan Dastider Hao Fang Mingjie Lin 58 3 0 03 Oct 2023
Real-Time Parallel Trajectory Optimization with Spatiotemporal Safety Constraints for Autonomous Driving in Congested Traffic Lei Zheng Rui Yang Zeng Peng Haichao Liu Michael Yu Wang Jun Ma 15 6 0 11 Sep 2023
Online Multi-Contact Receding Horizon Planning via Value Function Approximation Jiayi Wang Sanghyun Kim Teguh Santoso Lembono Wenqian Du Jae-Koo Shim ... Ke Min Wang V. Ivan Sylvain Calinon S. Vijayakumar Steve Tonneau 26 4 0 07 Jun 2023
Optimal Control for Articulated Soft Robots S. Chhatoi Michele Pierallini Franco Angelini Carlos Mastalli M. Garabini 26 2 0 02 Jun 2023
Enabling safe walking rehabilitation on the exoskeleton Atalante: experimental results M. Brunet Marine Pétriaux F. D. Meglio N. Petit 28 1 0 17 Apr 2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection Jae-Koo Shim Carlos Mastalli Thomas Corbéres Steve Tonneau V. Ivan S. Vijayakumar 35 5 0 24 Mar 2023
CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality Gianluigi Grandesso Elisa Alboni G. P. R. Papini Patrick M. Wensing Andrea Del Prete 30 15 0 12 Nov 2022
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP He Li Tingnan Zhang Wenhao Yu Patrick M. Wensing 47 12 0 28 Sep 2022
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors Noel Csomay-Shanklin Victor D. Dorobantu Aaron D. Ames 36 12 0 23 Sep 2022
Inverse-Dynamics MPC via Nullspace Resolution Carlos Mastalli S. Chhatoi Thomas Corbéres Steve Tonneau S. Vijayakumar 29 34 0 12 Sep 2022
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation Alexander L. Mitchell W. Merkt Mathieu Geisert Siddhant Gangapurwala Martin Engelcke Oiwi Parker Jones Ioannis Havoutis Ingmar Posner 27 3 0 02 May 2022
Motor Control Insights on Walking Planner and its Stability Carlo Tiseo K. Veluvolu Wei Tech Ang 8 0 0 31 Aug 2018