2 papers
cs.RO2026
Adaptive-MHE : A Sampling-Based Adaptive MPC for Legged Loco-Manipulation via Moving Horizon Estimation
Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid Khadiv
Legged robots have demonstrated a remarkable ability to traverse various terrains, yet generating effective loco-manipulation behaviors remains challenging. A key difficulty is tha…
cs.RO2025
Control of Legged Robots using Model Predictive Optimized Path Integral
Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid Khadiv
Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. Howev…