186 citations · 215 across the 4 of their papers we have counts for
4 papers
Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
Lorenzo Amatucci, Joon-Ha Kim, Jemin Hwangbo +1
In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-makin…
STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor
Yeeun Kim, Byeongho Yu, Eungchang Mason Lee +3
We propose a novel state estimator for legged robots, STEP, achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-sl…
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…