53 citations · 60 across the 9 of their papers we have counts for
9 papers
URDF+: An Enhanced URDF for Robots with Kinematic Loops
Matthew Chignoli, Jean-Jacques Slotine, Patrick M. Wensing +1
Designs incorporating kinematic loops are becoming increasingly prevalent in the robotics community. Despite the existence of dynamics algorithms to deal with the effects of such l…
Probabilistic Homotopy Optimization for Dynamic Motion Planning
Shayan Pardis, Matthew Chignoli, Sangbae Kim
We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation me…
Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots
Charles Khazoom, Seungwoo Hong, Matthew Chignoli +2
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. Howev…
A Propagation Perspective on Recursive Forward Dynamics for Systems with Kinematic Loops
Matthew Chignoli, Nicholas Adrian, Sangbae Kim +1
We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider…
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control
AJ Miller, Shamel Fahmi, Matthew Chignoli +1
We propose MIMOC: Motion Imitation from Model-Based Optimal Control. MIMOC is a Reinforcement Learning (RL) controller that learns agile locomotion by imitating reference trajector…
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking
Yanran Ding, Charles Khazoom, Matthew Chignoli +1
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, th…
Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping
Matthew Chignoli, Savva Morozov, Sangbae Kim
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently u…
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
Matthew Chignoli, Sangbae Kim
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlin…
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones +1
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this p…