4 papers
CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion
Nimesh Khandelwal, Mehul Anand, Shakti S. Gupta +1
Model Predictive Control (MPC) is the standard predictive layer in hierarchical quadruped controllers, but the per-cycle QP solve limits the update rate achievable on embedded proc…
Agent-Driven Autonomous Reinforcement Learning Research: Iterative Policy Improvement for Quadruped Locomotion
Nimesh Khandelwal, Shakti S. Gupta
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A…
Compliant Control of Quadruped Robots for Assistive Load Carrying
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used…
Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical mode…