Adaptive CLF-MPC With Application To Quadrupedal Robots

Adaptive CLF-MPC With Application To Quadrupedal Robots

8 December 2021

Farbod Farshidian

Marco Hutter

Papers citing "Adaptive CLF-MPC With Application To Quadrupedal Robots"

14 / 14 papers shown

Title
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks M. Minniti R. Grandia Kevin Fäh Farbod Farshidian Marco Hutter 13 34 0 08 Jun 2021
Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty Rohan Sinha James Harrison Spencer M. Richards Marco Pavone 35 22 0 16 Apr 2021
Adaptive Variants of Optimal Feedback Policies B. Lopez Jean-Jacques E. Slotine OffRL 36 4 0 06 Apr 2021
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems Spencer M. Richards Navid Azizan Jean-Jacques E. Slotine Marco Pavone 46 70 0 07 Mar 2021
Adaptive Force-based Control for Legged Robots M. Sombolestan L. Chen Quan Nguyen 11 41 0 12 Nov 2020
Asynchronous Deep Model Reference Adaptive Control Girish Joshi Jasvir Virdi Girish Chowdhary 26 43 0 04 Nov 2020
Learning Stability Certificates from Data Nicholas M. Boffi Stephen Tu Nikolai Matni Jean-Jacques E. Slotine Vikas Sindhwani 13 92 0 13 Aug 2020
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions R. Grandia Andrew J. Taylor Andrew W. Singletary Marco Hutter Aaron D. Ames 8 39 0 01 Jun 2020
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies Preston Culbertson Jean-Jacques E. Slotine Mac Schwager 72 52 0 06 May 2020
Implicit Regularization and Momentum Algorithms in Nonlinearly Parameterized Adaptive Control and Prediction Nicholas M. Boffi Jean-Jacques E. Slotine 17 41 0 31 Dec 2019
Bayesian Learning-Based Adaptive Control for Safety Critical Systems David D. Fan Jennifer Nguyen Rohan Thakker Nikhilesh Alatur Ali-akbar Agha-mohammadi Evangelos A. Theodorou BDL 44 84 0 05 Oct 2019
Feedback MPC for Torque-Controlled Legged Robots R. Grandia Farbod Farshidian René Ranftl Marco Hutter 18 158 0 15 May 2019
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 134 78 0 04 Mar 2019
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 23 125 0 11 Oct 2017