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Inverse-Dynamics MPC via Nullspace Resolution
IEEE Transactions on robotics (TRO), 2022
12 September 2022
Carlos Mastalli
S. Chhatoi
Thomas Corbéres
Steve Tonneau
S. Vijayakumar
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Papers citing
"Inverse-Dynamics MPC via Nullspace Resolution"
23 / 23 papers shown
Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Lukas Molnar
Jin Cheng
Gabriele Fadini
Dongho Kang
Fatemeh Zargarbashi
Stelian Coros
113
0
0
24 Nov 2025
Learning to Walk with Less: a Dyna-Style Approach to Quadrupedal Locomotion
Francisco Affonso
Felipe Andrade G. Tommaselli
Juliano Negri
V. S. Medeiros
M. V. Gasparino
Girish Chowdhary
Marcelo Becker
116
2
0
08 Sep 2025
Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots
Luigi Penco
Beomyeong Park
Stefan Fasano
Nehar Poddar
Stephen McCrory
Nicholas Kitchel
Tomasz Bialek
Dexton Anderson
Duncan Calvert
Robert Griffin
97
1
0
15 Aug 2025
Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Lorenzo Amatucci
João Sousa Pinto
Giulio Turrisi
Dominique Orban
Victor Barasuol
Claudio Semini
336
7
0
09 Jun 2025
Line-Search Filter Differential Dynamic Programming for Optimal Control with Nonlinear Equality Constraints
Ming Xu
Stephen Gould
Iman Shames
341
0
0
11 Apr 2025
Endpoint-Explicit Differential Dynamic Programming via Exact Resolution
IEEE International Conference on Robotics and Automation (ICRA), 2025
Maria Parilli
Sergi Martinez
Carlos Mastalli
259
2
0
05 Mar 2025
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control
IEEE International Conference on Robotics and Automation (ICRA), 2024
Xinyu Jia
Wenxin Wang
Jun Yang
Yongping Pan
Haoyong Yu
291
1
0
23 Oct 2024
Rapid and Robust Trajectory Optimization for Humanoids
Bohao Zhang
Ram Vasudevan
261
5
0
31 Aug 2024
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots
Sergi Martinez
Robert J. Griffin
Carlos Mastalli
331
2
0
25 Mar 2024
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Lorenzo Amatucci
Giulio Turrisi
Angelo Bratta
Victor Barasuol
Claudio Semini
484
22
0
18 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
He Li
Patrick M. Wensing
442
37
0
06 Mar 2024
Morphological Symmetries in Robotics
Daniel Felipe Ordoñez Apraez
Giulio Turrisi
Vladimir Kostic
Mario Martin
Antonio Agudo
Francesc Moreno-Noguer
Massimiliano Pontil
Claudio Semini
Carlos Mastalli
AI4CE
479
21
0
23 Feb 2024
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories
Gijeong Kim
Dong-Kyun Kang
Joon-ha Kim
Seungwoo Hong
Hae-Won Park
313
5
0
14 Dec 2023
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Aristotelis Papatheodorou
W. Merkt
Alexander L. Mitchell
Ioannis Havoutis
367
5
0
09 Oct 2023
Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
Ioannis Dadiotis
Arturo Laurenzi
Nikos Tsagarakis
334
12
0
04 Oct 2023
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
He Li
Wenhao Yu
Tingnan Zhang
Patrick M. Wensing
297
16
0
14 Sep 2023
Optimal Control for Articulated Soft Robots
IEEE Transactions on robotics (TRO), 2023
S. Chhatoi
Michele Pierallini
Franco Angelini
Carlos Mastalli
M. Garabini
178
11
0
02 Jun 2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
IEEE Access (IEEE Access), 2023
Thomas Corbéres
Carlos Mastalli
W. Merkt
Ioannis Havoutis
Maurice F. Fallon
Nicolas Mansard
T. Flayols
S. Vijayakumar
Steve Tonneau
402
23
0
15 May 2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jae-Koo Shim
Carlos Mastalli
Thomas Corbéres
Steve Tonneau
V. Ivan
S. Vijayakumar
180
7
0
24 Mar 2023
On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation
Shubham Singh
R. Russell
Patrick M. Wensing
327
9
0
12 Feb 2023
Optimization-Based Control for Dynamic Legged Robots
IEEE Transactions on robotics (TRO), 2022
Patrick M. Wensing
Michael Posa
Yue Hu
Adrien Escande
Nicolas Mansard
Andrea Del Prete
377
248
0
21 Nov 2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Angelo Bratta
Avadesh Meduri
Michele Focchi
Ludovic Righetti
Claudio Semini
360
4
0
30 Sep 2022
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
IEEE International Conference on Robotics and Automation (ICRA), 2022
Noel Csomay-Shanklin
Victor D. Dorobantu
Aaron D. Ames
367
18
0
23 Sep 2022
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