186 citations · 262 across the 3 of their papers we have counts for
3 papers · 1 filter
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots
Nathan J. Kong, Chuanzheng Li, Aaron M. Johnson
Model Predictive Control (MPC) is a popular strategy for controlling robots but is difficult for systems with contact due to the complex nature of hybrid dynamics. To implement MPC…
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)…
Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program
Yanran Ding, Chuanzheng Li, Hae-Won Park
This paper proposes a kinodynamic motion planning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about cent…