Fetching the paper…
Reading the bibliography…
The hybrid nature of multi-contact robotic systems, due to making and breaking contact with the environment, creates significant challenges for high-quality control.
R. O. Duda and P. E. Hart, “Use of the hough transformation to detect lines and curves in pictures,” Communications of the ACM
1972
Earlier work this paper cites.
N. Hogan, “Impedance control: An approach to manipulation,” in 1984 American control conference
1984
Earlier work this paper cites.
A. Becker, P. Kumar, and C.-Z. Wei, “Adaptive control with the stochastic approximation algorithm: Geometry and convergence,” IEEE Transactions on Automatic Control
1985
Earlier work this paper cites.
O. Khatib, “A unified approach for motion and force control of robot manipulators: The operational space formulation,” IEEE Journal on Robotics and Automation
1987
Earlier work this paper cites.
S. Sastry, M. Bodson, and J. F. Bartram, “Adaptive control: stability, convergence, and robustness,” 1990
1990
Earlier work this paper cites.
D. Stewart and J. C. Trinkle, “An Implicit Time-stepping Scheme for Rigid Body Dynamics with Coulomb Friction,” in Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065)
2000
Earlier work this paper cites.
W. Heemels, J. M. Schumacher, and S. Weiland, “Linear Complementarity Systems,” SIAM Journal on Applied Mathematics
2000
Earlier work this paper cites.
D. E. Stewart, “Rigid-body Dynamics with Friction and Impact,” SIAM review
2000
Earlier work this paper cites.
M. Anitescu, “Optimization-based simulation of nonsmooth rigid multibody dynamics,” Mathematical Programming
2006
Earlier work this paper cites.
H. Fukushima, T.-H. Kim, and T. Sugie, “Adaptive model predictive control for a class of constrained linear systems based on the comparison model,” Automatica
2007
Earlier work this paper cites.
SIAM, 2009
R. W. Cottle, J.-S. Pang, and R. E. Stone, The Linear Complementarity Problem · 2009
Earlier work this paper cites.
Y. Tassa, T. Erez, and E. Todorov, “Synthesis and Stabilization of Complex Behaviors Through Online Trajectory Optimization,” in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
2012
Earlier work this paper cites.
Y. Ma, S. Vichik, and F. Borrelli, “Fast stochastic mpc with optimal risk allocation applied to building control systems,” in 2012 IEEE 51st IEEE Conference on Decision and Control (CDC)
2012
Earlier work this paper cites.
M. Tanaskovic, L. Fagiano, R. Smith, and M. Morari, “Adaptive receding horizon control for constrained mimo systems,” Automatica
2014
Earlier work this paper cites.
A. Weiss and S. Di Cairano, “Robust dual control mpc with guaranteed constraint satisfaction,” in 53rd IEEE Conference on Decision and Control
2014
Earlier work this paper cites.
D. P. Kingma and J. Ba, “Adam: A method for stochastic optimization,” arXiv preprint arXiv:1412.6980
2014
Earlier work this paper cites.
Springer, 2016
B. Brogliato, Nonsmooth Mechanics: Models, Dynamics and Control · 2016
Cited alongside, same era.
V. R. Desaraju, A. Spitzer, and N. Michael, “Experience-driven predictive control with robust constraint satisfaction under time-varying state uncertainty.,” in Robotics: Science and Systems
2017
Cited alongside, same era.
A. W. Winkler, C. D. Bellicoso, M. Hutter, and J. Buchli, “Gait and trajectory optimization for legged systems through phase-based end-effector parameterization,” IEEE Robotics and Automation Letters
2018
Cited alongside, same era.
S. Wang, K. Pei, J. Whitehouse, J. Yang, and S. Jana, “Efficient formal safety analysis of neural networks,” in Advances in Neural Information Processing Systems
2018
Cited alongside, same era.
K. Pereida and A. P. Schoellig, “Adaptive model predictive control for high-accuracy trajectory tracking in changing conditions,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
M. Parmar, M. Halm, and M. Posa, “Fundamental challenges in deep learning for stiff contact dynamics,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2021
Later among the works it cites.
J.-P. Sleiman, F. Farshidian, M. V. Minniti, and M. Hutter, “A unified mpc framework for whole-body dynamic locomotion and manipulation,” IEEE Robotics and Automation Letters
2021
Later among the works it cites.
A. M. Annaswamy and A. L. Fradkov, “A historical perspective of adaptive control and learning,” Annual Reviews in Control
2021
Later among the works it cites.
A. Aydinoglu, P. Sieg, V. M. Preciado, and M. Posa, “Stabilization of complementarity systems via contact-aware controllers,” IEEE Transactions on Robotics
2021
Later among the works it cites.
G. Torrente, E. Kaufmann, P. Föhn, and D. Scaramuzza, “Data-driven mpc for quadrotors,” IEEE Robotics and Automation Letters
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
2018
Cited alongside, same era.
T. Koller, F. Berkenkamp, M. Turchetta, and A. Krause, “Learning-based model predictive control for safe exploration,” in 2018 IEEE conference on decision and control (CDC)
2018
Cited alongside, same era.
2019
Cited alongside, same era.
Y.-M. Chen and M. Posa, “Optimal reduced-order modeling of bipedal locomotion,” in 2020 IEEE International Conference on Robotics and Automation (ICRA)
2020
Cited alongside, same era.
M. Geilinger, D. Hahn, J. Zehnder, M. Bächer, B. Thomaszewski, and S. Coros, “Add: Analytically differentiable dynamics for multi-body systems with frictional contact,” ACM Transactions on Graphics (TOG)
2020
Cited alongside, same era.
2020
Cited alongside, same era.
C. Mastalli, R. Budhiraja, W. Merkt, G. Saurel, B. Hammoud, M. Naveau, J. Carpentier, L. Righetti, S. Vijayakumar, and N. Mansard, “Crocoddyl: An efficient and versatile framework for multi-contact optimal control,” in 2020 IEEE International Conference on Robotics and Automation (ICRA)
2020
Cited alongside, same era.
F. R. Hogan and A. Rodriguez, “Reactive planar non-prehensile manipulation with hybrid model predictive control,” The International Journal of Robotics Research
2020
Cited alongside, same era.
2021
Later among the works it cites.
2022
Later among the works it cites.
W. Jin, A. Aydinoglu, M. Halm, and M. Posa, “Learning linear complementarity systems,” in Learning for Dynamics and Control Conference
2022
Later among the works it cites.
2022
Later among the works it cites.
B. Bianchini, M. Halm, N. Matni, and M. Posa, “Generalization bounded implicit learning of nearly discontinuous functions,” in Learning for Dynamics and Control Conference
2022
Later among the works it cites.
C. Stamouli, A. Tsiamis, M. Morari, and G. J. Pappas, “Adaptive stochastic mpc under unknown noise distribution,” in Learning for Dynamics and Control Conference
2022
Later among the works it cites.
R. Guzman, R. Oliveira, and F. Ramos, “Adaptive model predictive control by learning classifiers,” in Learning for Dynamics and Control Conference
2022
Later among the works it cites.
H. Qi, A. Kumar, R. Calandra, Y. Ma, and J. Malik, “In-hand object rotation via rapid motor adaptation,” in Conference on Robot Learning
2023
Closest in time.
2023
Closest in time.
2023
Closest in time.
2023
Closest in time.
B. Bianchini, M. Halm, and M. Posa, “Simultaneous learning of contact and continuous dynamics,” in Conference on Robot Learning (CoRL)
2023
Closest in time.