Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors

23 September 2022

Papers citing "Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors"

6 / 6 papers shown

Title
Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator Yanhao Yang Ross L. Hatton AI4CE 21 0 0 27 Apr 2025
Safety-Critical Controller Synthesis with Reduced-Order Models Max H. Cohen Noel Csomay-Shanklin William D. Compton Tamás G. Molnár Aaron D. Ames 77 1 0 25 Nov 2024
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes Noel Csomay-Shanklin William D. Compton Aaron D. Ames 54 2 0 20 Nov 2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation Zachary Olkin Aaron D. Ames 34 1 0 18 Sep 2024
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots Zixin Zhang John Z. Zhang Shuo Yang Zachary Manchester 26 2 0 16 Sep 2024
Robust Agility via Learned Zero Dynamics Policies Noel Csomay-Shanklin William D. Compton I. D. Rodriguez Eric R. Ambrose Yisong Yue Aaron D. Ames 27 1 0 10 Sep 2024