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This paper studies capturability and push recovery for quadrupedal locomotion.
Infinite time reachability of state-space regions by using feedback control
Dimitri Bertsekas · 1972
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A survey of viability theory
Jean-Pierre Aubin · 1990
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Set invariance in control
F. Blanchini · 1999
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The 3d linear inverted pendulum mode: A simple modeling for a biped walking pattern generation
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa · 2001
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On the stability of walking systems
Pierre-Brice Wieber · 2002
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The explicit linear quadratic regulator for constrained systems
Alberto Bemporad, Manfred Morari, Vivek Dua, and Efstratios N. Pistikopoulos · 2002
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Yalmip: A toolbox for modeling and optimization in matlab
Johan Lofberg · 2004
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Multi-parametric toolbox (mpt)
Michal Kvasnica, Pascal Grieder, Mato Baotić, and Manfred Morari · 2004
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Optimal control of piecewise affine systems: A multi-parametric approach
Mato Baotic · 2005
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Dynamic programming for constrained optimal control of discrete-time linear hybrid systems
Francesco Borrelli, Mato Baotić, Alberto Bemporad, and Manfred Morari · 2005
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Capture point: A step toward humanoid push recovery
J. Pratt, J. Carff, S. Drakunov, and A. Goswami · 2006
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Velocity-based stability margins for fast bipedal walking
Jerry E Pratt and Russ Tedrake · 2006
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Humanoid push recovery
B. Stephens · 2007
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Viability and predictive control for safe locomotion
P. Wieber · 2008
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Online walking gait generation with adaptive foot positioning through linear model predictive control
H. Diedam, D. Dimitrov, P. Wieber, K. Mombaur, and M. Diehl · 2008
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Push recovery by stepping for humanoid robots with force controlled joints
B. J. Stephens and C. G. Atkeson · 2010
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Online walking motion generation with automatic footstep placement
Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, and Moritz Diehl · 2010
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Design of hyq–a hydraulically and electrically actuated quadruped robot
Claudio Semini, Nikos G Tsagarakis, Emanuele Guglielmino, Michele Focchi, Ferdinando Cannella, and Darwin G Caldwell · 2011
Cited alongside, same era.
Viability theory: new directions
Jean-Pierre Aubin, Alexandre M Bayen, and Patrick Saint-Pierre · 2011
Cited alongside, same era.
Push Recovery Control for Force-Controlled Humanoid Robots
Benjamin Stephens · 2011
Cited alongside, same era.
Capturability-based analysis and control of legged locomotion, part 1: Theory and application to three simple gait models
Dynamic locomotion in the mit cheetah 3 through convex model-predictive control
J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt, and S. Kim · 2018
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Whole-body nonlinear model predictive control through contacts for quadrupeds
M. Neunert, M. Stäuble, M. Giftthaler, C. D. Bellicoso, J. Carius, C. Gehring, M. Hutter, and J. Buchli · 2018
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Mini cheetah: A platform for pushing the limits of dynamic quadruped control
B. Katz, J. D. Carlo, and S. Kim · 2019
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Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control
Donghyun Kim, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, and Sangbae Kim · 2019
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Online gait transitions and disturbance recovery for legged robots via the feasible impulse set
C. Boussema, M. J. Powell, G. Bledt, A. J. Ijspeert, P. M. Wensing, and S. Kim · 2019
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Twan Koolen, Tomas de Boer, John Rebula, Ambarish Goswami, and Jerry Pratt · 2012
Cited alongside, same era.
Capturability-based analysis and control of legged locomotion, part 2: Application to m2v2, a lower-body humanoid
Jerry Pratt, Twan Koolen, Tomas de Boer, John Rebula, Sebastien Cotton, John Carff, Matthew Johnson, and Peter Neuhaus · 2012
Cited alongside, same era.
Design principles for highly efficient quadrupeds and implementation on the mit cheetah robot
S. Seok, A. Wang, Meng Yee Chuah, D. Otten, J. Lang, and S. Kim · 2013
Cited alongside, same era.
Anymal - a highly mobile and dynamic quadrupedal robot
M. Hutter, C. Gehring, D. Jud, A. Lauber, C. D. Bellicoso, V. Tsounis, J. Hwangbo, K. Bodie, P. Fankhauser, M. Bloesch, R. Diethelm, S. Bachmann, A. Melzer, and M. Hoepflinger · 2016
Cited alongside, same era.
Balance control using center of mass height variation: Limitations imposed by unilateral contact
T. Koolen, M. Posa, and R. Tedrake · 2016
Cited alongside, same era.
Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the mit cheetah
Gerardo Bledt, Patrick M Wensing, and Sangbae Kim · 2017
Cited alongside, same era.
Online walking motion and foothold optimization for quadruped locomotion
A. W. Winkler, F. Farshidian, M. Neunert, D. Pardo, and J. Buchli · 2017
Cited alongside, same era.
Implementing regularized predictive control for simultaneous real-time footstep and ground reaction force optimization
Gerardo Bledt and Sangbae Kim · 2019
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Mpc for humanoid gait generation: Stability and feasibility
N. Scianca, D. De Simone, L. Lanari, and G. Oriolo · 2020
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Extracting legged locomotion heuristics with regularized predictive control
Gerardo Bledt and Sangbae Kim · 2020
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Variational-based optimal control of underactuated balancing for dynamic quadrupeds
M. Chignoli and P. M. Wensing · 2020
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Deepgait: Planning and control of quadrupedal gaits using deep reinforcement learning
Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, and Marco Hutter · 2020
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Instantaneous capture input for balancing the variable height inverted pendulum
Junwei Liu, Hua Chen, Patrick M. Wensing, and Wei Zhang · 2021
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Representation-free model predictive control for dynamic motions in quadrupeds
Y. Ding, A. Pandala, C. Li, Y. H. Shin, and H. W. Park · 2021
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Jumping over obstacles with mit cheetah 2
Hae-Won Park, Patrick M Wensing, and Sangbae Kim · 2021
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