1 citations · 1 across the 2 of their papers we have counts for
3 papers
cs.RO2024★ 1 cited
Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer
Qianzhong Chen, Junheng Li, Sheng Cheng +2
Bipedal locomotion control is essential for humanoid robots to navigate complex, human-centric environments. While optimization-based control designs are popular for integrating so…
cs.RO2022
Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC
Junheng Li, Quan Nguyen
This paper presents a novel Adaptive-frequency MPC framework for bipedal locomotion over terrain with uneven stepping stones. In detail, we intend to achieve adaptive foot placemen…
cs.RO2021
Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots
Junheng Li, Quan Nguyen
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. Specifically, we present a formulation of MPC design…