58 citations · 60 across the 7 of their papers we have counts for
7 papers
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
He Li, Patrick M. Wensing
This work introduces an optimization-based locomotion control framework for on-the-fly synthesis of complex dynamic maneuvers. At the core of the proposed framework is a cascaded-f…
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
He Li, Wenhao Yu, Tingnan Zhang +1
Differential Dynamic Programming (DDP) is an efficient computational tool for solving nonlinear optimal control problems. It was originally designed as a single shooting method and…
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
He Li, Tingnan Zhang, Wenhao Yu +1
Specialized motions such as jumping are often achieved on quadruped robots by solving a trajectory optimization problem once and executing the trajectory using a tracking controlle…
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
He Li, Tingnan Zhang, Wenhao Yu +1
Reinforcement Learning (RL) has witnessed great strides for quadruped locomotion, with continued progress in the reliable sim-to-real transfer of policies. However, it remains a ch…
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
Vince Kurtz, He Li, Patrick M. Wensing +1
Seemingly in defiance of basic physics, cats consistently land on their feet after falling. In this paper, we design a controller that lands the Mini Cheetah quadruped robot on its…
Model Hierarchy Predictive Control of Robotic Systems
He Li, Robert J. Frei, Patrick M. Wensing
This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion…
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots
He Li, Patrick M. Wensing
This paper presents a Differential Dynamic Programming (DDP) framework for trajectory optimization (TO) of hybrid systems with state-based switching. The proposed Hybrid Systems DD…