BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning

19 January 2022

Paarth Shah

Papers citing "BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning"

35 / 35 papers shown

Title
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning Jiyuan Shi Xinzhe Liu Dewei Wang Ouyang Lu Sören Schwertfeger Fuchun Sun Chenjia Bai X. Li 47 0 0 19 Apr 2025
Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning Weiji Xie Chenjia Bai Jiyuan Shi Junkai Yang Yunfei Ge Weinan Zhang X. Li 44 1 0 24 Feb 2025
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation Fukang Liu Zhaoyuan Gu Yilin Cai Ziyi Zhou Shijie Zhao Hyunyoung Jung Sehoon Ha Yue Chen Danfei Xu Ye Zhao 29 11 0 30 Sep 2024
Accelerated gradient descent for high frequency Model Predictive Control J. Zhang Armand Jordana Ludovic Righetti 21 0 0 26 Sep 2024
Physically-Consistent Parameter Identification of Robots in Contact Shahram Khorshidi Murad Dawood Benno Nederkorn Maren Bennewitz Majid Khadiv 34 1 0 15 Sep 2024
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 39 0 0 14 Aug 2024
Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers S. Bang Jaemin Lee Carlos Gonzalez Luis Sentis 39 5 0 23 Jul 2024
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion Xuanqi Zeng Hongbo Zhang Linzhu Yue Zhitao Song Linwei Zhang Yunhui Liu 33 0 0 14 Jul 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 16 0 03 Jun 2024
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping Zhicheng He Jiayang Wu Jingwen Zhang Shibowen Zhang Yapeng Shi Hangxin Liu Lining Sun Yao Su Xiaokun Leng 41 10 0 20 May 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 46 22 0 03 Apr 2024
Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions Bolun Dai Rooholla Khorrambakht Prashanth Krishnamurthy Farshad Khorrami 3DPC 26 4 0 27 Mar 2024
Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion Shahram Khorshidi Murad Dawood Maren Bennewitz 16 1 0 20 Mar 2024
Efficient Lexicographic Optimization for Prioritized Robot Control and Planning Kai Pfeiffer A. Kheddar 34 0 0 14 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 41 12 0 06 Mar 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 27 77 0 30 Jan 2024
Active Collision Avoidance System for E-Scooters in Pedestrian Environment Xuke Yan Dan Shen 19 1 0 07 Nov 2023
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications Bowen Weng Guillermo A. Castillo Yun-Seok Kang Ayonga Hereid 13 4 0 28 Aug 2023
Learning Multiple Gaits within Latent Space for Quadruped Robots Jinze Wu Yufei Xue Chenkun Qi 27 18 0 06 Aug 2023
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery Robert Griffin James Foster Stefan Fasano Brandon Shrewsbury Sylvain Bertrand 23 7 0 22 Jul 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 16 4 0 07 Jun 2023
Risk-Sensitive Extended Kalman Filter Armand Jordana Avadesh Meduri Etienne Arlaud Justin Carpentier Ludovic Righetti 11 3 0 19 May 2023
Time-Optimal Control via Heaviside Step-Function Approximation Kai Pfeiffer Quang-Cuong Pham 22 0 0 08 Mar 2023
Sequential Hierarchical Least-Squares Programming for Prioritized Non-Linear Optimal Control Kai Pfeiffer A. Kheddar 21 3 0 23 Feb 2023
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 27 139 0 21 Nov 2022
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition} Brian E. Jackson Jeonghoon Lee K. Tracy Zachary Manchester 30 4 0 25 Oct 2022
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion Victor Dhédin Haolong Li Shahram Khorshidi Lukas Mack Adithya Kumar Chinnakkonda Ravi ... Paarth Shah F. Grimminger Ludovic Righetti Majid Khadiv Joerg Stueckler 17 11 0 05 Oct 2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion Angelo Bratta Avadesh Meduri Michele Focchi Ludovic Righetti Claudio Semini 32 3 0 30 Sep 2022
MPC with Sensor-Based Online Cost Adaptation Avadesh Meduri Huaijiang Zhu Armand Jordana Ludovic Righetti 24 4 0 20 Sep 2022
Adaptive Complexity Model Predictive Control Joseph Norby Ardalan Tajbakhsh Yanhao Yang Aaron M. Johnson 53 5 0 06 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 29 142 0 17 Aug 2022
Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots Angelo Bratta Michele Focchi Niraj Rathod Claudio Semini 14 6 0 20 Jul 2022
Efficient Object Manipulation Planning with Monte Carlo Tree Search Huaijiang Zhu Avadesh Meduri Ludovic Righetti 24 10 0 17 Jun 2022
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots Ahmad Gazar Majid Khadiv Sébastien Kleff Andrea Del Prete Ludovic Righetti 15 3 0 26 May 2022
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance Hua Chen Zejun Hong Shunpeng Yang Patrick M. Wensing Wei Zhang 27 16 0 28 Jan 2022