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Specialized motions such as jumping are often achieved on quadruped robots by solving a trajectory optimization problem once and executing the trajectory using a tracking controller.
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B. Katz, J. Di Carlo, and S. Kim, “Mini Cheetah: A platform for pushing the limits of dynamic quadruped control,” in IEEE Int. Conf. on Robotics and Automation , 2019, pp. 6295–6301
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O. Villarreal, V. Barasuol, P. M. Wensing, D. G. Caldwell, and C. Semini, “Mpc-based controller with terrain insight for dynamic legged locomotion,” in IEEE Int. Conf. on Robotics and Automation , 2020, pp. 2436–2442
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M. Chignoli and P. M. Wensing, “Variational-based optimal control of underactuated balancing for dynamic quadrupeds,” IEEE Access , vol. 8, pp. 49 785–49 797, 2020
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P.-A. Léziart, T. Flayols, F. Grimminger, N. Mansard, and P. Souères, “Implementation of a reactive walking controller for the new open-hardware quadruped solo-12,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2021, pp. 5007–5013
2021
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R. Grandia, A. J. Taylor, A. D. Ames, and M. Hutter, “Multi-layered safety for legged robots via control barrier functions and model predictive control,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2021, pp. 8352–8358
2021
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C. Mastalli, W. Merkt, J. Marti-Saumell, H. Ferrolho, J. Sola, N. Mansard, and S. Vijayakumar, “A feasibility-driven approach to control-limited ddp.”
Cited in the paper.
T. Z. He Li, Wenhao Yu and P. M. Wensing, “Zero-shot retargeting of learned quadruped locomotion policies using hybrid kinodynamic model predictive control,” in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems , To appear
Cited in the paper.
2022
Closest in time.
N. J. Kong, C. Li, and A. M. Johnson, “Hybrid ilqr model predictive control for contact implicit stabilization on legged robots,” arXiv e-prints , pp. arXiv–2207, 2022
2022
Closest in time.
M. Chignoli, S. Morozov, and S. Kim, “Rapid and reliable quadruped motion planning with omnidirectional jumping,” in 2022 International Conference on Robotics and Automation (ICRA) . IEEE, 2022, pp. 6621–6627
2022
Closest in time.