Mpc-Based Controller With Terrain Insight For Dynamic Legged Locomotion

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion

Dynamic Legged Systems lab

[ICRA'20 Presentation] MPC-Based Controller with Terrain Insight for Dynamic Legged Locomotion

Dynamic Legged Systems lab

Model Predictive Control with Environment Adaptation for Legged Locomotion

Dynamic Legged Systems lab

Perceptive locomotion based on MPC controller with elevation mapping

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion

Computational Robotics Lab

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots (T-RO 23)

Dynamic Legged Systems lab

Perceptive Locomotion through Nonlinear Model Predictive Control

Robotic Systems Lab: Legged Robotics at ETH Zürich

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

Oxford Dynamic Robot Systems Group

Nonlinear MPC on Unitree A1: Disturbance Test

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control

Robotic Systems Lab: Legged Robotics at ETH Zürich

Extracting Legged Locomotion Heuristics with Regularized Predictive Control

Biomimetics MIT

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion [IROS24]

Dynamic Legged Systems lab

Feedback MPC for Torque-Controlled Legged Robots

Robotic Systems Lab: Legged Robotics at ETH Zürich

A Motion Planning Framework for Dynamic Monopedal Locomotion on Deformable Terrain, APS Mar. Mtg. 21

Northwestern Robotics

Planning and Execution of Dynamic Motion Locomotion for a Quadruped on Challenging Terrain (ICRA'15)

Dynamic Legged Systems lab

Gerardo Bledt and Donghyun Kim: MPC and Vision Aided Dynamic Walking [ICRA 2020 WS Legged robots]

2019 Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedb... 2

Biomechatronics and Intelligent Robotics Lab

Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots

Dynamic Robotics and Control Laboratory

[ICRA'20 Presentation] STANCE: Locomotion Adaptation over Soft Terrain

Dynamic Legged Systems lab