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20222026
most citedContact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories

28 citations · 28 across the 6 of their papers we have counts for

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cs.RO2023★ 28 cited

Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories

Gijeong Kim, Dongyun Kang, Joon-Ha Kim +2

This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or f…