Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints

30 September 2021

Grant Gibson

Oluwami Dosunmu-Ogunbi

Yukai Gong

J. Grizzle

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Papers citing "Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints"

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Title
PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization Hyunyoung Jung Zhaoyuan Gu Ye Zhao Hae-Won Park Sehoon Ha 28 0 0 14 Apr 2025
Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control Yapeng Shi Sishu Li Yongqiang Wu Junjie Liu Xiaokun Leng Xizhe Zang Songhao Piao 28 0 0 03 Apr 2025
Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots Basit Muhammad Imran Jeeseop Kim Taizoon Chunawala Alexander Leonessa K. Hamed 41 0 0 18 Mar 2025
EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning Wei Zhu Abirath Raju Abdulaziz Shamsah Anqi Wu S. Hutchinson Ye Zhao 70 0 0 16 Mar 2025
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks Abdulaziz Shamsah Jesse Jiang Ziwon Yoon Samuel Coogan Ye Zhao 31 1 0 23 Sep 2024
Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots Tara Bartlett Ian R. Manchester 21 0 0 16 Sep 2024
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces Yuan Gao Victor Paredes Yukai Gong Zijian He Ayonga Hereid Yan Gu 16 0 0 12 Sep 2024
RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control S. Bang Carlos Arribalzaga Jové Luis Sentis 18 2 0 25 Jul 2024
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control Abdulaziz Shamsah Krishanu Agarwal Nigam Katta Abirath Raju Shreyas Kousik Ye Zhao 29 2 0 24 Jun 2024
Unified Path and Gait Planning for Safe Bipedal Robot Navigation Chengyang Peng Victor Paredes Ayonga Hereid 22 1 0 26 Mar 2024
Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds Zhaoyang Xiang Victor Paredes Ayonga Hereid 16 4 0 25 Mar 2024
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability Kasidit Muenprasitivej Jesse Jiang Abdulaziz Shamsah Samuel Coogan Ye Zhao 33 4 0 25 Mar 2024
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control Zhaoyuan Gu Yuntian Zhao Yipu Chen Rongming Guo Jennifer K. Leestma Gregory S Sawicki Ye Zhao 24 9 0 24 Mar 2024
Toward Understanding Key Estimation in Learning Robust Humanoid Locomotion Zhicheng Wang Wandi Wei Ruiqi Yu Jun Wu Qiuguo Zhu 34 5 0 09 Mar 2024
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments Oluwami Dosunmu-Ogunbi Aayushi Shrivastava J. Grizzle 13 0 0 04 Mar 2024
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts Stefan Fasano James Foster Sylvain Bertrand Christian DeBuys Robert Griffin 17 1 0 19 Oct 2023
Reinforcement Learning for Reduced-order Models of Legged Robots Yu-Ming Chen Hien Bui Michael Posa 16 2 0 15 Oct 2023
Safe Whole-Body Task Space Control for Humanoid Robots Victor Paredes Ayonga Hereid 8 1 0 12 Oct 2023
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion Guillermo A. Castillo Bowen Weng Shunpeng Yang Wei Zhang Ayonga Hereid 14 14 0 27 Sep 2023
Bipedal Walking on Constrained Footholds with MPC Footstep Control Brian Acosta Michael Posa 14 10 0 14 Sep 2023
Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control Oluwami Dosunmu-Ogunbi Aayush Shrivastava Grant Gibson J. Grizzle 11 7 0 05 Jul 2023
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots Alphonsus Adu-Bredu Grant Gibson J. Grizzle AI4CE 30 6 0 07 Mar 2023
Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion Yu-Ming Chen Jian-bo Hu Michael Posa 12 6 0 05 Jan 2023
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints Jinze Liu Minzhe Li Jiunn-Kai Huang J. Grizzle 6 8 0 05 Jan 2023
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 17 31 0 23 Oct 2021