3 citations · 3 across the 3 of their papers we have counts for
3 papers · 1 filter
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…
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
Maximilian Albracht, Shivesh Kumar, Shubham Vyas +1
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of…
Linear Model Predictive Control for a planar free-floating platform: A comparison of binary input constraint formulations
Franek Stark, Shubham Vyas, Georg Schildbach +1
This work develops a first Model Predictive Control for European Space Agencies 3-dof free-floating platform. The challenges of the platform are the on/off thrusters, which cannot…