2 papers
cs.RO2021
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…
eess.SY2020
Performance Analysis of Adaptive Dynamic Tube MPC
Savva Morozov, Parker C. Lusk, Brett T. Lopez +1
Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in rea…