A Sequential MPC Approach to Reactive Planning for Bipedal Robots

A Sequential MPC Approach to Reactive Planning for Bipedal Robots

30 April 2022

Abhijeet Mangesh Kulkarni

Dhruv A. Thanki

Papers citing "A Sequential MPC Approach to Reactive Planning for Bipedal Robots"

15 / 15 papers shown

Title
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Tianze Wang Christian Hubicki 9 0 0 19 May 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 72 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 35 1 0 23 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 50 0 0 16 Sep 2024
Rapid and Robust Trajectory Optimization for Humanoids Bohao Zhang Ram Vasudevan 58 4 0 31 Aug 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 45 3 0 24 Jun 2024
Robust Dynamic Control Barrier Function Based Trajectory Planning for Mobile Manipulator Lihao Xu Xiaogang Xiong Bai Yang Yunjiang Lou 41 0 0 22 Jun 2024
Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation Abdulaziz Shamsah Krishanu Agarwal Shreyas Kousik Ye Zhao 40 2 0 25 Mar 2024
Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion Abdulaziz Shamsah Ye Zhao 31 0 0 15 Oct 2023
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control K. S. Narkhede Dhruv A. Thanki Abhijeet Mangesh Kulkarni I. Poulakakis 21 2 0 31 Jul 2023
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles K. S. Narkhede Mohamad Shafiee Motahar Sushant Veer I. Poulakakis 35 1 0 28 Mar 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik Koushil Sreenath 32 124 0 06 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 34 17 0 29 Dec 2022
Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics Min Dai Xiaobin Xiong Jaemin Lee Aaron D. Ames 48 9 0 18 Sep 2022
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 34 32 0 23 Oct 2021