2 papers
cs.RO2024
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots
Zixin Zhang, John Z. Zhang, Shuo Yang +1
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler ang…
cs.RO2024
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control
Juan Alvarez-Padilla, John Z. Zhang, Sofia Kwok +2
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in r…