Fetching the paper…
Reading the bibliography…
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots.
“Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control”
Donghyun Kim et al · 1909
Earlier work this paper cites.
“A Second-order Gradient Method for Determining Optimal Trajectories of Non-linear Discrete-time Systems”
By MAYNE · 1966
Earlier work this paper cites.
“A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control”
Moritz Diehl, Hans Bock and Johannes. Schlöder · 2005
Earlier work this paper cites.
“Numerical Optimization”, Springer Series in Operations Research
Jorge Nocedal and Stephen. Wright · 2006
Earlier work this paper cites.
“Online Walking Motion Generation with Automatic Footstep Placement”
Andrei Herdt et al · 2010
Earlier work this paper cites.
“Distributed Optimization and Statistical Learning via the Alternating Direction Method of Multipliers”
Stephen Boyd · 2010
Earlier work this paper cites.
“Whole-Body Model-Predictive Control Applied to the HRP-2 Humanoid”
J. Koenemann et al · 2015
Earlier work this paper cites.
“Exponential Control Barrier Functions for Enforcing High Relative-Degree Safety-Critical Constraints”
Quan Nguyen and Koushil Sreenath · 2016
Earlier work this paper cites.
“Analytical Derivatives of Rigid Body Dynamics Algorithms”
Justin Carpentier and Nicolas Mansard · 2018
Earlier work this paper cites.
“Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds”
M. Neunert et al · 2018
Earlier work this paper cites.
“MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot”
Gerardo Bledt et al · 2018
Earlier work this paper cites.
“Interactive Supercomputing on 40,000 Cores for Machine Learning and Data Analysis”
Albert Reuther et al · 2018
Earlier work this paper cites.
“ALTRO: A Fast Solver for Constrained Trajectory Optimization”
Taylor. Howell, Brian. Jackson and Zachary Manchester · 2019
Earlier work this paper cites.
“Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots”
Rohan Budhiraja, Justin Carpentier and Nicolas Mansard · 2019
Cited alongside, same era.
“CasADi: A Software Framework for Nonlinear Optimization and Optimal Control”
Joel.. Andersson et al · 2019
Cited alongside, same era.
“Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization”
Gerardo Bledt and Sangbae Kim · 2019
Cited alongside, same era.
“Control Barrier Functions: Theory and Applications”
Aaron. Ames et al · 2019
Cited alongside, same era.
“Mit-Biomimetics/Cheetah-Software”
MIT Biomimetic Robotics Lab · 2019
Cited alongside, same era.
“HPIPM: A High-Performance Quadratic Programming Framework for Model Predictive Control*”
Gianluca Frison and Moritz Diehl · 2020
“A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation”
Jia-Ruei Chiu et al · 2022
Later among the works it cites.
“BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning”
Avadesh Meduri et al · 2022
Later among the works it cites.
“Large-Scale ADMM-based Co-Design of Legged Robots”
Gabriel Bravo-Palacios and Patrick. Wensing · 2022
Later among the works it cites.
“Real-Time Multi-Contact Model Predictive Control via ADMM”
Alp Aydinoglu and Michael Posa · 2022
Later among the works it cites.
“Acados—a Modular Open-Source Framework for Fast Embedded Optimal Control”
Robin Verschueren et al · 2022
Later among the works it cites.
“Perceptive Locomotion Through Nonlinear Model-Predictive Control”
Ruben Grandia et al · 2023
Later among the works it cites.
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
Cited alongside, same era.
“OSQP: An Operator Splitting Solver for Quadratic Programs”
Bartolomeo Stellato et al · 2020
Cited alongside, same era.
“Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control”
Ruben Grandia, Andrew. Taylor, Aaron. Ames and Marco Hutter · 2021
Cited alongside, same era.
“Efficient Solution Method Based on Inverse Dynamics for Optimal Control Problems of Rigid Body Systems”
Sotaro Katayama and Toshiyuki Ohtsuka · 2021
Cited alongside, same era.
“A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation”
Jean-Pierre Sleiman, Farbod Farshidian, Maria Minniti and Marco Hutter · 2021
Cited alongside, same era.
“Constraint Handling in Continuous-Time DDP-Based Model Predictive Control”
Jean-Pierre Sleiman, Farbod Farshidian and Marco Hutter · 2021
Cited alongside, same era.
“Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions”
Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding and Sangbae Kim · 2022
Cited alongside, same era.
“Model Predictive Control of Legged and Humanoid Robots: Models and Algorithms”
Sotaro Katayama, Masaki Murooka and Yuichi Tazaki · 2023
Later among the works it cites.
“Inverse-Dynamics MPC via Nullspace Resolution”
Carlos Mastalli et al · 2023
Later among the works it cites.
“PIQP: A Proximal Interior-Point Quadratic Programming Solver”
Roland Schwan, Yuning Jiang, Daniel Kuhn and Colin. Jones · 2023
Later among the works it cites.
“Stagewise Implementations of Sequential Quadratic Programming for Model-Predictive Control”
Armand Jordana et al · 2023
Later among the works it cites.
“Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform”
Andrew SaLoutos et al · 2023
Later among the works it cites.
“Recursive Rigid-Body Dynamics Algorithms for Systems with Kinematic Loops”
Matthew Chignoli, Nicholas Adrian, Sangbae Kim and Patrick. Wensing · 2023
Later among the works it cites.
“Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control”
Wilson Jallet et al · 2024
Closest in time.