Perceptive Locomotion through Nonlinear Model Predictive Control

17 August 2022

Marco Hutter

Papers citing "Perceptive Locomotion through Nonlinear Model Predictive Control"

23 / 23 papers shown

Title
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng Tzu-Yuan Lin William Clark Ram Vasudevan Maani Ghaffari AI4CE 27 0 0 05 May 2025
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
Magnecko: Design and Control of a Quadrupedal Magnetic Climbing Robot Stefan Leuthard Timo Eugster Nicolas Faesch Riccardo Feingold Connor Flynn ... Markus Montenegro Valerio Schelbert Jia-Ruei Chiu Philip Arm Marco Hutter 24 0 0 18 Apr 2025
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots Ylenia Nisticò J. C. V. Soares Lorenzo Amatucci Geoff Fink Claudio Semini 39 1 0 15 Mar 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 72 2 0 03 Mar 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 42 1 0 24 Feb 2025
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir N Y Kolathaya 38 3 0 14 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 37 0 0 14 Aug 2024
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 17 6 0 18 Mar 2024
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion Giulio Turrisi Valerio Modugno Lorenzo Amatucci Dimitrios Kanoulas Claudio Semini 35 1 0 18 Mar 2024
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 8 9 0 13 Oct 2023
Learning Vision-Based Bipedal Locomotion for Challenging Terrain Helei Duan Bikram Pandit M. S. Gadde Bart Jaap van Marum Jeremy Dao Chanho Kim Alan Fern 14 32 0 26 Sep 2023
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion Shafeef Omar Lorenzo Amatucci Giulio Turrisi Victor Barasuol Claudio Semini 13 2 0 27 Jul 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Shafeef Omar Lorenzo Amatucci Victor Barasuol Giulio Turrisi Claudio Semini 21 3 0 24 Jul 2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller Ilyass Taouil Giulio Turrisi Daniel Schleich Victor Barasuol Claudio Semini Sven Behnke 14 1 0 23 Jul 2023
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion Dong-oh Kang Jin Cheng Miguel Zamora Fatemeh Zargarbashi Stelian Coros OffRL 19 31 0 29 May 2023
Enabling safe walking rehabilitation on the exoskeleton Atalante: experimental results M. Brunet Marine Pétriaux F. D. Meglio N. Petit 24 1 0 17 Apr 2023
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion Angelo Bratta Avadesh Meduri Michele Focchi Ludovic Righetti Claudio Semini 24 3 0 30 Sep 2022
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning Ryan Batke Fang-Yu Yu Jeremy Dao J. Hurst Ross L. Hatton Alan Fern Kevin R. Green 12 18 0 09 Jul 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 35 57 0 28 Jun 2022
Elevation Mapping for Locomotion and Navigation using GPU Takahiro Miki Lorenz Wellhausen R. Grandia Fabian Jenelten Timon Homberger Marco Hutter 20 89 0 27 Apr 2022
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance Hua Chen Zejun Hong Shunpeng Yang Patrick M. Wensing Wei K. Zhang 12 16 0 28 Jan 2022
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion Amanda Bouman M. Ginting Nikhilesh Alatur M. Palieri David D. Fan ... T. Pailevanian Sung-Kyun Kim K. Otsu J. W. Burdick Ali-akbar Agha-mohammadi 91 128 0 19 Oct 2020