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03/14/2022
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
The ability to generate dynamic walking in real-time for bipedal robots ...
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06/08/2021
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
Modern, torque-controlled service robots can regulate contact forces whe...
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03/18/2021
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
A kitchen assistant needs to operate human-scale objects, such as cabine...
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03/01/2021
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
In this paper, we propose a whole-body planning framework that unifies d...
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10/08/2019
Deep Value Model Predictive Control
In this paper, we introduce an actor-critic algorithm called Deep Value ...
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02/27/2019
