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cs.RO2025
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…
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…