Versatile Multi-Contact Planning and Control for Legged
Loco-Manipulation

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

17 August 2023

Jean-Pierre Sleiman

Farbod Farshidian

Marco Hutter

Papers citing "Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation"

5 / 5 papers shown

Title
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu M. Tomizuka Xiang-Yang Li 49 0 0 08 May 2025
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations Yuki Shirai A. Raghunathan Devesh K. Jha 56 1 0 11 Mar 2025
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen X. Wang 37 17 0 02 Oct 2023
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning N. Rudin David Hoeller Philipp Reist Marco Hutter 113 544 0 24 Sep 2021
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 21 25 0 15 Jan 2021