10 citations · 19 across the 17 of their papers we have counts for
4 papers · 1 filter
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono +8
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large o…
Neural Lyapunov and Optimal Control
Daniel Layeghi, Steve Tonneau, Michael Mistry
Despite impressive results, reinforcement learning (RL) suffers from slow convergence and requires a large variety of tuning strategies. In this paper, we investigate the ability o…
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt +6
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several…
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
Jaehyun Shim, Carlos Mastalli, Thomas Corbères +3
State-of-the-art approaches to footstep planning assume reduced-order dynamics when solving the combinatorial problem of selecting contact surfaces in real time. However, in exchan…