1 citations · 1 across the 2 of their papers we have counts for
3 papers
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control
Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel +8
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant appr…
Multi-IMU Sensor Fusion for Legged Robots
Shuo Yang, Zixin Zhang, John Z. Zhang +2
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation un…
A Convex Formulation of the Soft-Capture Problem
Ibrahima Sory Sow, Geordan Gutow, Howie Choset +1
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fu…