4 papers
A Deployable Bio-inspired Compliant Leg Design for Enhanced Leaping in Quadruped Robots
Yiyang Chen, Yuxin Liu, Jinzheng Zhou +4
Quadruped robots are becoming increasingly essential for various applications, including industrial inspection and catastrophe search and rescue. These scenarios require robots to…
Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
Chuyuan Tao, Fanxin Wang, Haolong Jiang +3
Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directl…
DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States
Fanxin Wang, Haolong Jiang, Chuyuan Tao +2
Optimizing trajectory costs for nonlinear control systems remains a significant challenge. Model Predictive Control (MPC), particularly sampling-based approaches such as the Model…
MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration
Fanxin Wang, Yikun Cheng, Chuyuan Tao
In trajectory optimization, Model Predictive Path Integral (MPPI) control is a sampling-based Model Predictive Control (MPC) framework that generates optimal inputs by efficiently…