3 papers
eess.SY2026
Model Predictive Static Programming for Discrete-Time Optimal Control on Lie Groups
Akhil B Krishna, Mangal Kothari
This paper extends the Model Predictive Static Programming (MPSP) framework for nonlinear systems evolving on Euclidean spaces to simple mechanical systems evolving on Lie groups.…
cs.RO2025
Compliant Control of Quadruped Robots for Assistive Load Carrying
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used…
cs.RO2024
Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical mode…