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cs.RO2025
Adaptive Model-Base Control of Quadrupeds via Online System Identification using Kalman Filter
Jonas Haack, Franek Stark, Shubham Vyas +2
Many real-world applications require legged robots to be able to carry variable payloads. Model-based controllers such as model predictive control (MPC) have become the de facto st…
cs.RO2024
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
Maximilian Albracht, Shivesh Kumar, Shubham Vyas +1
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of…