Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories

14 December 2023

Papers citing "Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories"

6 / 6 papers shown

Title
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion D. Youm Hyunyoung Jung Hyeongjun Kim Jemin Hwangbo Hae-Won Park Sehoon Ha 19 5 0 04 Nov 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 23 15 0 04 Sep 2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection Thomas Corbéres Carlos Mastalli W. Merkt Ioannis Havoutis Maurice F. Fallon Nicolas Mansard T. Flayols S. Vijayakumar Steve Tonneau 24 9 0 15 May 2023
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints João Moura Theodoros Stouraitis S. Vijayakumar 35 27 0 27 Sep 2021
Real-Time Multi-Contact Model Predictive Control via ADMM Alp Aydinoglu Michael Posa 24 33 0 15 Sep 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 66 52 0 12 Jul 2021