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We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler angles during large-angle rotations.
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J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt, and S. Kim, “Dynamic locomotion in the mit cheetah 3 through convex model-predictive control,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018, pp. 1–9
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G. Bledt, M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim, “Mit cheetah 3: Design and control of a robust, dynamic quadruped robot,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018, pp. 2245–2252
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2021
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S. Teng, D. Chen, W. Clark, and M. Ghaffari, “An error-state model predictive control on connected matrix lie groups for legged robot control,” in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022, pp. 8850–8857
2022
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Y. Ding, C. Khazoom, M. Chignoli, and S. Kim, “Orientation-aware model predictive control with footstep adaptation for dynamic humanoid walking,” in 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) , 2022, pp. 299–305
2022
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N. Csomay-Shanklin, V. D. Dorobantu, and A. D. Ames, “Nonlinear model predictive control of a 3d hopping robot: Leveraging lie group integrators for dynamically stable behaviors,” in 2023 IEEE International Conference on Robotics and Automation (ICRA) , 2023, pp. 12 106–12 112
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2018
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M. Neunert, M. Stäuble, M. Giftthaler, C. D. Bellicoso, J. Carius, C. Gehring, M. Hutter, and J. Buchli, “Whole-body nonlinear model predictive control through contacts for quadrupeds,” IEEE Robotics and Automation Letters , vol. 3, no. 3, pp. 1458–1465, 2018
2018
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B. Katz, J. D. Carlo, and S. Kim, “Mini cheetah: A platform for pushing the limits of dynamic quadruped control,” in 2019 International Conference on Robotics and Automation (ICRA) , 2019, pp. 6295–6301
2019
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T. A. Howell, B. E. Jackson, and Z. Manchester, “Altro: A fast solver for constrained trajectory optimization,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2019, pp. 7674–7679
2019
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B. Stellato, G. Banjac, P. Goulart, A. Bemporad, and S. Boyd, “OSQP: an operator splitting solver for quadratic programs,” Mathematical Programming Computation , vol. 12, no. 4, pp. 637–672, 2020. [Online]. Available: https://doi.org/10.1007/s12532-020-00179-2
2020
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B. E. Jackson, K. Tracy, and Z. Manchester, “Planning with attitude,” IEEE Robotics and Automation Letters , vol. 6, no. 3, pp. 5658–5664, 2021
2021
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M. Chignoli, D. Kim, E. Stanger-Jones, and S. Kim, “The mit humanoid robot: Design, motion planning, and control for acrobatic behaviors,” in 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) , 2021, pp. 1–8
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2023
Later among the works it cites.
C.-Y. Lee, S. Yang, B. Bokser, and Z. Manchester, “Enhanced balance for legged robots using reaction wheels,” in 2023 IEEE International Conference on Robotics and Automation (ICRA) , 2023, pp. 9980–9987
2023
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J. Z. Zhang, S. Yang, G. Yang, A. L. Bishop, S. Gurumurthy, D. Ramanan, and Z. Manchester, “Slomo: A general system for legged robot motion imitation from casual videos,” IEEE Robotics and Automation Letters , vol. 8, no. 11, pp. 7154–7161, 2023
2023
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2023
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R. Grandia, F. Jenelten, S. Yang, F. Farshidian, and M. Hutter, “Perceptive locomotion through nonlinear model-predictive control,” IEEE Transactions on Robotics , vol. 39, no. 5, pp. 3402–3421, 2023
2023
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S. Le Cleac’h, T. A. Howell, S. Yang, C.-Y. Lee, J. Zhang, A. Bishop, M. Schwager, and Z. Manchester, “Fast contact-implicit model predictive control,” IEEE Transactions on Robotics , vol. 40, pp. 1617–1629, 2024
2024
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