A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation

24 February 2022

Mayank Mittal

Marco Hutter

Papers citing "A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation"

42 / 42 papers shown

Title
Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach Tianlin Zhang Linzhu Yue Hongbo Zhang Lingwei Zhang Xuanqi Zeng Zhitao Song Yun-Hui Liu 17 0 0 17 Jun 2025
Learning coordinated badminton skills for legged manipulators Yuntao Ma Andrei Cramariuc Farbod Farshidian Marco Hutter 26 1 0 29 May 2025
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 42 0 0 25 May 2025
Dribble Master: Learning Agile Humanoid Dribbling Through Legged Locomotion Zhuoheng Wang Jinyin Zhou Qi Wu 102 0 0 19 May 2025
A Reactive Framework for Whole-Body Motion Planning of Mobile Manipulators Combining Reinforcement Learning and SDF-Constrained Quadratic Programmi Chenyu Zhang Shiying Sun Kuan Liu Chuanbao Zhou Xiaoguang Zhao M. Tan Yuanmin Huang 91 0 0 31 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
Low-pass sampling in Model Predictive Path Integral Control Piotr Kicki 69 1 0 13 Mar 2025
HEATS: A Hierarchical Framework for Efficient Autonomous Target Search with Mobile Manipulators Hao Zhang Yansen Wang Wentao Zhang Yu Wang Haoyao Chen 75 0 0 11 Mar 2025
Hierarchical Adaptive Motion Planning with Nonlinear Model Predictive Control for Safety-Critical Collaborative Loco-Manipulation M. Sombolestan Quan Nguyen 65 0 0 16 Nov 2024
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 115 2 0 11 Nov 2024
An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation Wenqian Du Ran Long João Moura Jiayi Wang S. Samadi S. Vijayakumar 67 0 0 30 Oct 2024
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control Xinyu Jia Wenxin Wang Jun Yang Yongping Pan Haoyong Yu 56 1 0 23 Oct 2024
Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards Lukas Brunke Yanni Zhang Ralf Romer Jack Naimer Nikola Staykov Siqi Zhou Angela P. Schoellig 120 5 0 19 Oct 2024
Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points Lotte Rassaerts Eke Suichies Bram van de Vrande Marco Alonso Bas Meere Michelle Chong Elena Torta 61 1 0 16 Oct 2024
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes Sixu Yan Zeyu Zhang Muzhi Han Zaijin Wang Qi Xie Zhitian Li Zhehan Li Hangxin Liu Xinggang Wang Song-Chun Zhu 122 8 0 15 Oct 2024
Visual Manipulation with Legs Xialin He Chengjing Yuan Wenxuan Zhou Ruihan Yang David Held Xiaolong Wang 114 3 0 15 Oct 2024
Safety-critical Motion Planning for Collaborative Legged Loco-Manipulation over Discrete Terrain M. Sombolestan Quan Nguyen 87 0 0 14 Oct 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 113 4 0 24 Sep 2024
Catch It! Learning to Catch in Flight with Mobile Dexterous Hands Yuanhang Zhang Tianhai Liang Zhenyang Chen Yanjie Ze Huazhe Xu 85 8 0 16 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 64 0 0 16 Sep 2024
Learning to Open and Traverse Doors with a Legged Manipulator Mike Zhang Yuntao Ma Takahiro Miki Marco Hutter 70 10 0 07 Sep 2024
RMMI: Enhanced Obstacle Avoidance for Reactive Mobile Manipulation using an Implicit Neural Map Nicolas Marticorena Tobias Fischer Jesse Haviland Niko Suenderhauf 78 1 0 29 Aug 2024
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators Changyi Lin Xingyu Liu Yuxiang Yang Yaru Niu Wenhao Yu Tingnan Zhang Jie Tan Byron Boots Ding Zhao 102 16 0 27 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
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 149 71 0 31 Jan 2024
Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects Alberto Rigo Muqun Hu Satyandra K. Gupta Quan Nguyen 84 7 0 31 Oct 2023
Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped Ioannis Dadiotis Arturo Laurenzi Nikos Tsagarakis 99 8 0 04 Oct 2023
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles Moritz Eckhoff Dennis Knobbe Henning Zwirnmann Abdalla Swikir Sami Haddadin 53 2 0 13 Sep 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 61 57 0 17 Aug 2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots Philip Arm Gabriel Waibel Jan Preisig Turcan Tuna Ruyi Zhou ... G. Ligeza Takahiro Miki F. Kehl H. Kolvenbach Marco Hutter 68 67 0 19 Jul 2023
Dynamic Object Tracking for Quadruped Manipulator with Spherical Image-Based Approach Tianlin Zhang Sikai Guo Xiaogang Xiong Wanlei Li Zezheng Qi Y. Lou 37 2 0 14 Jul 2023
More Than an Arm: Using a Manipulator as a Tail for Enhanced Stability in Legged Locomotion Huang Huang Antonio Loquercio Ashish Kumar Neerja Thakkar Ken Goldberg Jitendra Malik 57 2 0 02 May 2023
Legged Robots for Object Manipulation: A Review Yifeng Gong Ge Sun Aditya Nair Aditya Bidwai C. Raghuram John Grezmak Guillaume Sartoretti K. Daltorio 76 19 0 29 Mar 2023
Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots M. Sombolestan Quan Nguyen 95 9 0 12 Mar 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
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization T. Lew Sumeet Singh M. Prats Jeffrey Bingham Jonathan Weisz ... Fei Xia Peng Xu Tingnan Zhang Jie Tan Montserrat Gonzalez 92 16 0 19 Oct 2022
Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload Ioannis Dadiotis Arturo Laurenzi Nikos Tsagarakis 73 5 0 13 Oct 2022
Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots M. Sombolestan Quan Nguyen 70 25 0 27 Sep 2022
Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots Junheng Li Quan Nguyen 98 14 0 18 Sep 2022
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework Jin Cheng Firas Abi-Farraj Farbod Farshidian Marco Hutter 66 7 0 29 Jul 2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions Charles Khazoom Daniel Gonzalez Diaz Yanran Ding Sangbae Kim 109 31 0 01 Jul 2022
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