7 citations · 18 across the 21 of their papers we have counts for
Showing 2021Show all
2 papers · 1 filter
cs.RO2021★ 2 cited
Balancing Control and Pose Optimization for Wheel-legged Robots Navigating High Obstacles
Junheng Li, Junchao Ma, Quan Nguyen
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allow…
cs.RO2021★ 3 cited
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…