10 citations · 10 across the 4 of their papers we have counts for
4 papers · 1 filter
Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots
Taizoon Chunawala, Jeeseop Kim, Kaveh Akbari Hamed
This paper presents a novel layered planning and control framework based on multi-rate nonlinear model predictive control (MR-NMPC) that enables quadrupedal robots to perform hybri…
Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots
Leila Amanzadeh, Taizoon Chunawala, Randall T. Fawcett +2
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MP…
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics
Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi +6
Model predictive control (MPC) combined with reduced-order template models has emerged as a powerful tool for trajectory optimization in dynamic legged locomotion. However, loco-ma…
Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots
Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala +2
This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functio…