Collision-Free MPC for Legged Robots in Static and Dynamic Scenes

25 March 2021

Marco Hutter

Papers citing "Collision-Free MPC for Legged Robots in Static and Dynamic Scenes"

29 / 29 papers shown

Title
Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments Zifan Wang Teli Ma Yufei Jia X. Yang Jiaming Zhou Wenlong Ouyang Qiang Zhang Junwei Liang 53 0 0 25 May 2025
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Tianze Wang Christian Hubicki 80 0 0 19 May 2025
Collision avoidance from monocular vision trained with novel view synthesis Valentin Tordjman--Levavasseur Stéphane Caron 78 0 0 09 Apr 2025
DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States Fanxin Wang Haolong Jiang Chuyuan Tao Wenbin Wan Yikun Cheng 36 0 0 26 Mar 2025
Foam: A Tool for Spherical Approximation of Robot Geometry Sai Coumar Gilbert Chang Nihar Kodkani Zachary Kingston 93 0 0 17 Mar 2025
Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion in MuJoCo Simulation Shivayogi Akki Tan Chen 76 0 0 28 Jan 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 115 2 0 11 Nov 2024
Conformalized Reachable Sets for Obstacle Avoidance With Spheres Yongseok Kwon Jonathan Michaux Seth Isaacson Bohao Zhang Matthew Ejakov Katherine A. Skinner Ram Vasudevan 76 2 0 13 Oct 2024
Let's Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat Jonathan Michaux Seth Isaacson Challen Enninful Adu Adam Li Rahul Kashyap Swayampakula Parker Ewen Sean Rice Katherine A. Skinner Ram Vasudevan 3DGS 96 6 0 25 Sep 2024
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination Jaemin Lee Min Dai Jeeseop Kim Aaron D. Ames 71 0 0 16 Sep 2024
Dynamic Planning for Sequential Whole-body Mobile Manipulation Zhitian Li Yida Niu Yao Su Hangxin Liu Ziyuan Jiao 83 1 0 24 May 2024
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness Wentao Zhang Shaohang Xu Peiyuan Cai Lijun Zhu 41 0 0 15 Mar 2024
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation Daegyu Lim Myeong-Ju Kim Junhyeok Cha Jaeheung Park 110 1 0 17 Feb 2024
Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres Jonathan Michaux Adam Li Qingyi Chen Che Chen Bohao Zhang Ram Vasudevan 80 6 0 13 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 153 71 0 31 Jan 2024
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments Jaemin Lee Jeeseop Kim Wyatt Ubellacker Tamás G. Molnár Aaron D. Ames 67 2 0 12 Dec 2023
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End Jin Jin Chong Zhang Jonas Frey Nikita Rudin Matías Mattamala Cesar Cadena Marco Hutter 77 18 0 05 Oct 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization Qiayuan Liao Zhongyu Li A. Thirugnanam Jun Zeng Koushil Sreenath 95 19 0 29 Dec 2022
A Review of Scene Representations for Robot Manipulators Carter Sifferman LM&Ro SSL 82 0 0 22 Dec 2022
Learning Visual Locomotion with Cross-Modal Supervision Antonio Loquercio Ashish Kumar Jitendra Malik SSL 100 43 0 07 Nov 2022
Dynamic Gap: Formal Guarantees for Safe Gap-based Navigation in Dynamic Environments M. Asselmeier Ye Zhao Patricio A. Vela 23 0 0 10 Oct 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 103 64 0 28 Jun 2022
Differentiable Collision Avoidance Using Collision Primitives Simon Zimmermann Matthias Busenhart Simon Huber Roi Poranne Stelian Coros 53 18 0 20 Apr 2022
Autonomous Navigation of AGVs in Unknown Cluttered Environments: log-MPPI Control Strategy Ihab S. Mohamed Kai-Li Yin Lantao Liu 55 41 0 30 Mar 2022
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation Jiawei Chiu Jean-Pierre Sleiman Mayank Mittal Farbod Farshidian Marco Hutter 73 62 0 24 Feb 2022
An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions Matías Mattamala Nived Chebrolu Maurice F. Fallon 96 25 0 11 Jan 2022
Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller Yecheng Shao Yongbin Jin Xianwei Liu Weiyan He Hongtao Wang Wei Yang 62 60 0 01 Jan 2022
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments Zhongyu Li Jun Zeng Shuxiao Chen Koushil Sreenath 80 27 0 13 Sep 2021
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation Mayank Mittal David Hoeller Farbod Farshidian Marco Hutter Animesh Garg 97 88 0 18 Mar 2021