Fetching the paper…
Reading the bibliography…
This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions.
Kim D, Carlo JD, Katz B, Bledt G and Kim S (2019) Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control · 1909
Earlier work this paper cites.
International Journal of Control 3(1): 85–95
Mayne D (1966) A second-order gradient method for determining optimal trajectories of non-linear discrete-time systems · 1966
Earlier work this paper cites.
Journal of Optimization Theory and Applications 37: 177–219
Gabay D (1982) Minimizing a differentiable function over a differential manifold · 1982
Earlier work this paper cites.
IFAC Proceedings Volumes 17(2): 1603–1608
Bock HG and Plitt KJ (1984) A multiple shooting algorithm for direct solution of optimal control problems · 1984
Earlier work this paper cites.
Journal of Process Control 12(4): 577–585
Diehl M, Bock HG, Schlöder JP, Findeisen R, Nagy Z and Allgöwer F (2002) Real-time optimization and nonlinear model predictive control of processes governed by differential-algebraic equations · 2002
Earlier work this paper cites.
In: First International Conference on Informatics in Control, Automation and Robotics , volume 2. SciTePress, pp. 222–229
Li W and Todorov E (2004) Iterative linear quadratic regulator design for nonlinear biological movement systems · 2004
Earlier work this paper cites.
In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems . IEEE, pp. 1623–1630
De Luca A, Albu-Schaffer A, Haddadin S and Hirzinger G (2006) Collision detection and safe reaction with the DLR-III lightweight manipulator arm · 2006
Earlier work this paper cites.
Robotics: Science and Systems VI
Tassa Y and Todorov E (2010) Stochastic complementarity for local control of discontinuous dynamics · 2010
Earlier work this paper cites.
In: 2011 IEEE International Conference on Robotics and Automation . IEEE, pp. 1071–1076
Todorov E (2011) A convex, smooth and invertible contact model for trajectory optimization · 2011
Earlier work this paper cites.
In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems . pp. 4906–4913
Tassa Y, Erez T and Todorov E (2012) Synthesis and stabilization of complex behaviors through online trajectory optimization · 2012
Earlier work this paper cites.
In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems . IEEE, pp. 5026–5033
Todorov E, Erez T and Tassa Y (2012) MuJoCo: A physics engine for model-based control · 2012
Earlier work this paper cites.
The International Journal of Robotics Research 33(1): 69–81
Posa M, Cantu C and Tedrake R (2014) A direct method for trajectory optimization of rigid bodies through contact · 2014
Earlier work this paper cites.
Friedrich-Alexander-Universitaet Erlangen-Nuernberg (Germany)
Preclik T (2014) Models and algorithms for ultrascale simulations of non-smooth granular dynamics · 2014
Earlier work this paper cites.
In: 2014 IEEE International Conference on Robotics and Automation (ICRA) . pp. 1168–1175
Tassa Y, Mansard N and Todorov E (2014) Control-limited differential dynamic programming · 2014
Earlier work this paper cites.
In: 2014 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, pp. 6054–6061
Todorov E (2014) Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo · 2014
Earlier work this paper cites.
MATLAB Central File Exchange: https://www. mathworks. com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization
Tassa Y (2015) iLQG/DDP trajectory optimization · 2015
Earlier work this paper cites.
URL https://youtu.be/fRj34o4hN4I
Boston Dynamics · 2017
Earlier work this paper cites.
IEEE Robotics and Automation Letters 2(3): 1502–1509
Neunert M, Farshidian F, Winkler AW and Buchli J (2017) Trajectory optimization through contacts and automatic gait discovery for quadrupeds · 2017
Earlier work this paper cites.
In: 2017 IEEE International Conference on Robotics and Automation (ICRA) . pp. 695–702
Xie Z, Liu CK and Hauser K (2017) Differential dynamic programming with nonlinear constraints · 2017
Earlier work this paper cites.
In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, pp. 2245–2252
Bledt G, Powell MJ, Katz B, Di Carlo J, Wensing PM and Kim S (2018) Mit cheetah 3: Design and control of a robust, dynamic quadruped robot · 2018
Earlier work this paper cites.
IEEE Robotics and Automation Letters 3(4): 3316–3323
Carius J, Ranftl R, Koltun V and Hutter M (2018) Trajectory optimization with implicit hard contacts · 2018
Earlier work this paper cites.
In: Robotics: Science and systems (RSS 2018)
Carpentier J and Mansard N (2018) Analytical derivatives of rigid body dynamics algorithms · 2018
Earlier work this paper cites.
In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . pp. 1–9
Di Carlo J, Wensing PM, Katz B, Bledt G and Kim S (2018) Dynamic locomotion in the mit cheetah 3 through convex model-predictive control · 2018
Cited alongside, same era.
In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, pp. 1–9
Giftthaler M, Neunert M, Stäuble M, Buchli J and Diehl M (2018) A family of iterative Gauss-Newton shooting methods for nonlinear optimal control · 2018
Cited alongside, same era.
IEEE Robotics and Automation Letters 3(2): 895–902
Hwangbo J, Lee J and Hutter M (2018) Per-contact iteration method for solving contact dynamics · 2018
Cited alongside, same era.
IEEE Robotics and Automation Letters 3(3): 1458–1465
Neunert M, Stäuble M, Giftthaler M, Bellicoso CD, Carius J, Gehring C, Hutter M and Buchli J (2018) Whole-body nonlinear model predictive control through contacts for quadrupeds · 2018
Cited alongside, same era.
ACM Transactions on Graphics (TOG) 37(4): 1–12
Yu W, Turk G and Liu CK (2018) Learning symmetric and low-energy locomotion · 2018
Cited alongside, same era.
In: 2022 International Conference on Robotics and Automation (ICRA) . IEEE, pp. 3414–3421
Aydinoglu A and Posa M (2022) Real-time multi-contact model predictive control via ADMM · 2022
Later among the works it cites.
arXiv preprint arXiv:2212.00541
Howell T, Gileadi N, Tunyasuvunakool S, Zakka K, Erez T and Tassa Y (2022) Predictive sampling: Real-time behaviour synthesis with MuJoCo · 2022
Later among the works it cites.
IEEE Robotics and Automation Letters 7(2): 4630–4637
Ji G, Mun J, Kim H and Hwangbo J (2022) Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion · 2022
Later among the works it cites.
In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, pp. 11978–11985
Kim G, Kang D, Kim JH and Park HW (2022) Contact-implicit differential dynamic programming for model predictive control with relaxed complementarity constraints · 2022
Later among the works it cites.
In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) . IEEE, pp. 512–517
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . pp. 6316–6323
Bledt G and Kim S (2019) Implementing regularized predictive control for simultaneous real-time footstep and ground reaction force optimization · 2019
Cited alongside, same era.
IEEE Robotics and Automation Letters 4(3): 3013–3020
Carius J, Ranftl R, Koltun V and Hutter M (2019) Trajectory optimization for legged robots with slipping motions · 2019
Cited alongside, same era.
In: 2019 IEEE/SICE International Symposium on System Integration (SII) . pp. 614–619
Carpentier J, Saurel G, Buondonno G, Mirabel J, Lamiraux F, Stasse O and Mansard N (2019) The Pinocchio c++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives · 2019
Cited alongside, same era.
Science Robotics 4(26): eaau5872
Hwangbo J, Lee J, Dosovitskiy A, Bellicoso D, Tsounis V, Koltun V and Hutter M (2019) Learning agile and dynamic motor skills for legged robots · 2019
Cited alongside, same era.
The International Journal of Robotics Research 38(12-13): 1463–1476
Manchester Z, Doshi N, Wood RJ and Kuindersma S (2019) Contact-implicit trajectory optimization using variational integrators · 2019
Cited alongside, same era.
In: 2019 International Conference on Robotics and Automation (ICRA) . IEEE, pp. 2447–2453
Önol AÖ, Long P and Padır T (2019) Contact-implicit trajectory optimization based on a variable smooth contact model and successive convexification · 2019
Cited alongside, same era.
IEEE Robotics and Automation Letters 4(4): 3355–3362
Pandala AG, Ding Y and Park H (2019) qpSWIFT: A real-time sparse quadratic program solver for robotic applications · 2019
Cited alongside, same era.
Kleff S, Carpentier J, Mansard N and Righetti L (2022) On the derivation of the contact dynamics in arbitrary frames: Application to polishing with Talos · 2022
Later among the works it cites.
In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, pp. 8829–8834
Kurtz V and Lin H (2022) Contact-implicit trajectory optimization with hydroelastic contact and iLQR · 2022
Later among the works it cites.
In: 2022 International Conference on Robotics and Automation (ICRA) . IEEE, pp. 970–976
Moura J, Stouraitis T and Vijayakumar S (2022) Non-prehensile planar manipulation via trajectory optimization with complementarity constraints · 2022
Later among the works it cites.
ACM Transactions On Graphics (TOG) 41(4): 1–17
Peng XB, Guo Y, Halper L, Levine S and Fidler S (2022) ASE: Large-scale reusable adversarial skill embeddings for physically simulated characters · 2022
Later among the works it cites.
In: 2022 International Conference on Robotics and Automation (ICRA) . pp. 6614–6620
Shin YH, Hong S, Woo S, Choe J, Son H, Kim G, Kim JH, Lee K, Hwangbo J and Park HW (2022) Design of KAIST HOUND · 2022
Later among the works it cites.
In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, pp. 13563–13570
Shirai Y, Lin X, Schperberg A, Tanaka Y, Kato H, Vichathorn V and Hong D (2022) Simultaneous contact-rich grasping and locomotion via distributed optimization enabling free-climbing for multi-limbed robots · 2022
Later among the works it cites.
arXiv preprint arXiv:2304.11259
Aydinoglu A, Wei A and Posa M (2023) Consensus complementarity control for multi-contact MPC · 2023
Closest in time.
IEEE Transactions on Robotics
Chen H, Hong Z, Yang S, Wensing PM and Zhang W (2023) Quadruped capturability and push recovery via a switched-systems characterization of dynamic balance · 2023
Closest in time.
arXiv preprint arXiv:2305.08926
Corbères T, Mastalli C, Merkt W, Havoutis I, Fallon M, Mansard N, Flayols T, Vijayakumar S and Tonneau S (2023) Perceptive locomotion through whole-body MPC and optimal region selection · 2023
Closest in time.
IEEE Transactions on Robotics
Grandia R, Jenelten F, Yang S, Farshidian F and Hutter M (2023) Perceptive locomotion through nonlinear model-predictive control · 2023
Closest in time.
IEEE Transactions on Robotics
Kong NJ, Li C, Council G and Johnson AM (2023) Hybrid iLQR model predictive control for contact implicit stabilization on legged robots · 2023
Closest in time.
arXiv preprint arXiv:2309.01813
Kurtz V, Castro A, Önol AÖ and Lin H (2023) Inverse dynamics trajectory optimization for contact-implicit model predictive control · 2023
Closest in time.
arXiv preprint arXiv:2304.06372
Lidec QL, Jallet W, Montaut L, Laptev I, Schmid C and Carpentier J (2023) Contact models in robotics: a comparative analysis · 2023
Closest in time.
IEEE Transactions on Robotics
Mastalli C, Chhatoi SP, Corbéres T, Tonneau S and Vijayakumar S (2023) Inverse-dynamics MPC via nullspace resolution · 2023
Closest in time.
IEEE Transactions on Robotics
Wensing PM, Posa M, Hu Y, Escande A, Mansard N and Del Prete A (2023) Optimization-based control for dynamic legged robots · 2023
Closest in time.
arXiv preprint arXiv:2308.03014
Wu J, Xue Y and Qi C (2023) Learning multiple gaits within latent space for quadruped robots · 2023
Closest in time.
IEEE Robotics and Automation Letters
Youm D, Jung H, Kim H, Hwangbo J, Park HW and Ha S (2023) Imitating and finetuning model predictive control for robust and symmetric quadrupedal locomotion · 2023
Closest in time.