58 citations · 60 across the 7 of their papers we have counts for
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cs.RO2020★ 58 cited
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…
cs.RO2020★ 2 cited
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…