10 citations · 20 across the 15 of their papers we have counts for
15 papers
ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots
Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng +1
This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for cooperative payload transportation by teams of quadrupedal robots. The pr…
Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots
Taizoon Chunawala, Jeeseop Kim, Kaveh Akbari Hamed
This paper presents a novel layered planning and control framework based on multi-rate nonlinear model predictive control (MR-NMPC) that enables quadrupedal robots to perform hybri…
Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
Ruturaj S. Sambhus, Yicheng Zeng, Kapi Ketan Mehta +2
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The intercon…
ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion
Yicheng Zeng, Ruturaj S. Sambhus, Basit Muhammad Imran +3
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-…
Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots
Leila Amanzadeh, Taizoon Chunawala, Randall T. Fawcett +2
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MP…
Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots
Ruturaj Sambhus, Muneeb Ahmad, Basit Muhammad Imran +3
Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigatin…
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics
Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi +6
Model predictive control (MPC) combined with reduced-order template models has emerged as a powerful tool for trajectory optimization in dynamic legged locomotion. However, loco-ma…
Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots
Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala +2
This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functio…
Data-Driven Predictive Control for Robust Exoskeleton Locomotion
Kejun Li, Jeeseop Kim, Xiaobin Xiong +3
Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive…
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion
Randall T Fawcett, Leila Amanzadeh, Jeeseop Kim +2
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To thi…
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
Jeeseop Kim, Randall T Fawcett, Vinay R Kamidi +2
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A…
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints
Kaveh Akbari Hamed, Jeeseop Kim, Abhishek Pandala
This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and…
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach
Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames
The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking…
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach
Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma +2
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide…
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach
Kaveh Akbari Hamed, Vinay R. Kamidi, Abhishek Pandala +2
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints.…