Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics

31 December 2024

Papers citing "Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics"

7 / 7 papers shown

Title
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 52 143 0 21 Nov 2022
Model Predictive Control with Environment Adaptation for Legged Locomotion Niraj Rathod Angelo Bratta Michele Focchi Mario Zanon Octavio Villarreal Claudio Semini Alberto Bemporad 34 40 0 12 May 2021
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops Victor Klemm Alessandro Morra Lionel Gulich Dominik Mannhart David Rohr Mina Kamel Yvain de Viragh Roland Siegwart 22 106 0 23 May 2020
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds Michael Neunert M. Stäuble Markus Giftthaler C. D. Bellicoso Jan Carius Christian Gehring Marco Hutter J. Buchli 34 251 0 07 Dec 2017
Structured contact force optimization for kino-dynamic motion generation Alexander Herzog S. Schaal Ludovic Righetti 40 83 0 27 May 2016
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid Alexander Herzog Nicholas Rotella Sean Mason F. Grimminger S. Schaal Ludovic Righetti 40 256 0 27 Oct 2014
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion S. Kuindersma Frank Permenter Russ Tedrake 48 243 0 07 Nov 2013