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2103.06907
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Impact Invariant Control with Applications to Bipedal Locomotion
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
11 March 2021
William Yang
Michael Posa
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Papers citing
"Impact Invariant Control with Applications to Bipedal Locomotion"
17 / 17 papers shown
Impact-Aware Robotic Manipulation: Quantifying the Sim-To-Real Gap for Velocity Jumps
Jari J. van Steen
Daan Stokbroekx
N. van de Wouw
A. Saccon
153
0
0
10 Nov 2024
Impact-Aware Bimanual Catching of Large-Momentum Objects
Lei Yan
Theodoros Stouraitis
João Moura
Wenfu Xu
Michael Gienger
S. Vijayakumar
191
27
0
25 Mar 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
293
152
0
30 Jan 2024
Bipedal Walking on Constrained Footholds with MPC Footstep Control
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
Brian Acosta
Michael Posa
202
17
0
14 Sep 2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems
Proceedings of the IEEE (Proc. IEEE), 2023
Nathan J. Kong
J. Joe Payne
James Zhu
Aaron M. Johnson
276
21
0
12 Jun 2023
Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts
IEEE Transactions on robotics (TRO), 2023
Jari J. van Steen
Gijs van den Brandt
N. van de Wouw
Jens Kober
A. Saccon
161
9
0
15 May 2023
Impact-Invariant Control: Maximizing Control Authority During Impacts
William Yang
Michael Posa
246
6
0
01 Mar 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
222
64
0
19 Feb 2023
Dual Arm Impact-Aware Grasping through Time-Invariant Reference Spreading Control
IFAC-PapersOnLine (IFAC-PapersOnLine), 2022
Jari J. van Steen
Abdullah Cosgun
N. van de Wouw
A. Saccon
127
5
0
01 Dec 2022
Optimization-Based Control for Dynamic Legged Robots
IEEE Transactions on robotics (TRO), 2022
Patrick M. Wensing
Michael Posa
Yue Hu
Adrien Escande
Nicolas Mansard
Andrea Del Prete
239
212
0
21 Nov 2022
Robot Control for Simultaneous Impact Tasks through Time-Invariant Reference Spreading
American Control Conference (ACC), 2022
Jari J. van Steen
N. van de Wouw
A. Saccon
149
6
0
10 Jun 2022
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions
Bibit Bianchini
Mathew Halm
Nikolai Matni
Michael Posa
228
13
0
13 Dec 2021
Robot control for simultaneous impact tasks via Quadratic Programming-based reference spreading
American Control Conference (ACC), 2021
Jari J. van Steen
N. van de Wouw
A. Saccon
124
12
0
09 Nov 2021
Validating Robotics Simulators on Real-World Impacts
Brian Acosta
William Yang
Michael Posa
377
38
0
01 Oct 2021
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
Mechatronics (Oxford) (MO), 2021
Ke Wang
Guiyang Xin
Songyan Xin
M. Mistry
S. Vijayakumar
Petar Kormushev
166
16
0
09 Sep 2021
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion
Journal of Dynamic Systems Measurement, and Control (JDSMC), 2021
Yukai Gong
J. Grizzle
173
54
0
17 May 2021
Impact-Aware Task-Space Quadratic-Programming Control
Yuquan Wang
Niels Dehio
Arnaud Tanguy
A. Kheddar
456
27
0
03 Jun 2020
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