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cs.RO2026
RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments
Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while…
cs.RO2023
Safe Motion Planning for Quadruped Robots Using Density Functions
Sriram S. K. S Narayanan, Andrew Zheng, Umesh Vaidya
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a mod…