2 papers
cs.RO2025
Adaptive Model-Base Control of Quadrupeds via Online System Identification using Kalman Filter
Jonas Haack, Franek Stark, Shubham Vyas +2
Many real-world applications require legged robots to be able to carry variable payloads. Model-based controllers such as model predictive control (MPC) have become the de facto st…
eess.SY2025
Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum
Blanka Burchard, Franek Stark
The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendu…