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08/17/2022
Perceptive Locomotion through Nonlinear Model Predictive Control
Dynamic locomotion in rough terrain requires accurate foot placement, co...
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06/28/2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and...
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04/27/2022
Elevation Mapping for Locomotion and Navigation using GPU
Perceiving the surrounding environment is crucial for autonomous mobile ...
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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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12/08/2021
Adaptive CLF-MPC With Application To Quadrupedal Robots
Modern robotic systems are endowed with superior mobility and mechanical...
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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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03/01/2021
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
We present a reformulation of a contact-implicit optimization (CIO) appr...
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10/30/2020
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
The problem of dynamic locomotion over rough terrain requires both accur...
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10/13/2020
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots
The additional degrees of freedom and missing counterparts in nature mak...
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06/01/2020
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
The theoretical unification of Nonlinear Model Predictive Control (NMPC)...
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05/15/2019
Feedback MPC for Torque-Controlled Legged Robots
The computational power of mobile robots is currently insufficient to ac...
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03/09/2019
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Locomotion planning for legged systems requires reasoning about suitable...
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02/27/2019
Whole-Body MPC for a Dynamically Stable Mobile Manipulator
Autonomous mobile manipulation is the cutting edge of the modern robotic...
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09/12/2018