186 citations · 186 across the 2 of their papers we have counts for
2 papers
cs.RO2020★ 186 cited
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
Yanran Ding, Abhishek Pandala, Chuanzheng Li +2
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D)…
cs.RO2020
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…