3 citations · 5 across the 20 of their papers we have counts for
3 papers · 1 filter
Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
Kejun Li, Jeeseop Kim, Maxime Brunet +3
Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predict…
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…