3 papers
cs.RO2023
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono +8
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large o…
cs.RO2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt +6
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several…
cs.RO2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
Jaehyun Shim, Carlos Mastalli, Thomas Corbères +3
State-of-the-art approaches to footstep planning assume reduced-order dynamics when solving the combinatorial problem of selecting contact surfaces in real time. However, in exchan…