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2315 result(s) for “Multi-Contact Whole-Body Motion Planning and Control” Page 1 of 47
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Agile and Dynamic Standing-up Control for Humanoids using 3D Divergent Component of Motion in Multi-contact Scenario
Grazia Zambella, Robert Schuller, George Mesesan, Antonio Bicchi, Christian Ott, Jinoh Lee
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Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks
Seo Wook Han, Maged Iskandar, Jinoh Lee, Min Jun Kim
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Real-Time Whole-Body Motion Planning for Mobile Manipulators Using Environment-Adaptive Search and Spatial-Temporal Optimization
Chengkai Wu, Ruilin Wang, mianzhi song, Fei Gao, Jie Mei, Boyu Zhou
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Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
Wei-Cheng Huang, Alp Aydinoglu, WANXIN JIN, Michael Posa
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Synthesizing Robust Walking Gaits Via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion
Maegan Tucker, Kejun Li, Aaron Ames
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A Study of Shared-Control with Bilateral Feedback for Obstacle Avoidance in Whole-Body Telelocomotion of a Wheeled Humanoid
DongHoon Baek, Yu-Chen (Johnny) Chang, Joao Ramos
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LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems
Edo Jelavic, Kaixian Qu, Farbod Farshidian, Marco Hutter
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Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control with Smooth Task Transitions
Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
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Synchronized Human-Humanoid Motion Imitation
Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar
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Proprioceptive-Based Whole-Body Disturbance Rejection Control for Dynamic Motions in Legged Robots
Zhengguo Zhu, Guoteng Zhang, Zhongkai Sun, Teng Chen, Xuewen Rong, Anhuan Xie, Yibin Li
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Hierarchical Optimization-Based Control for Whole-Body Loco-Manipulation of Heavy Objects
Alberto Rigo, Muqun Hu, Satyandra K. Gupta, Quan Nguyen
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Whole-Body Ergodic Exploration with a Manipulator Using Diffusion
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
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AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation
Haojia Li, Haokun Wang, Chen Feng, Fei Gao, Boyu Zhou, Shaojie Shen
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Adaptive Whole-Body Robotic Tool-Use Learning on Low-Rigidity Plastic-Made Humanoids Using Vision and Tactile Sensors
Kento Kawaharazuka, Kei Okada, Masayuki Inaba
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Optimization Based Dynamic Skateboarding of Quadrupedal Robot
Zhe Xu, Mohamed Al-Khulaqui, hanxin ma, Jiajun Wang, Quanbin Xin, Yangwei You, mingliang zhou, Diyun Xiang, Shiwu Zhang
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Dynamic Mobile Manipulation Via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid
Amartya Purushottam, Christopher Xu, Yeongtae Jung, Joao Ramos
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Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion
George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
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A Hierarchical Framework for Robot Safety using Whole-body Tactile Sensors
Shuo Jiang, Lawson L.S. Wong
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Representing Robot Geometry As Distance Fields: Applications to Whole-Body Manipulation
Yiming Li, Yan Zhang, Amirreza Razmjoo, Sylvain Calinon
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Aim-Aware Collision Monitoring: Discriminating between Expected and Unexpected Post-Impact Behaviors
Benn Proper, Alexander Andreas Kurdas, Saeed Abdolshah, Sami Haddadin, Alessandro Saccon
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Keep It Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator
Adam Heins, Angela P. Schoellig
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A Control Barrier Function-Based Motion Planning Scheme for a Quadruped Robot
Halil Utku Unlu, Vinicius Mariano Gonçalves, Dimitris Chaikalis, Anthony Tzes, Farshad Khorrami
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ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control
Arun Bishop, John Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester
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Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning
Amirardalan Tajbakhsh, Lorenz Biegler, Aaron M. Johnson
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Motion Planning and Inertia Based Control for Impact Aware Manipulation
Harshit Khurana, Aude Billard
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The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
Anuj Pasricha, Alessandro Roncone
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Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller
Mingxin Yu, Chenning Yu, Mohammad Mahdi Naddaf Shargh, devesh upadhyay, Sicun Gao, Chuchu Fan
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HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot Via Wasserstein Adversarial Imitation
Annan Tang, Takuma Hiraoka, Naoki Hiraoka, Fan Shi, Kento Kawaharazuka, Kunio Kojima, Kei Okada, Masayuki Inaba
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Snake Robot with Tactile Perception Navigates on Large-Scale Challenging Terrain
Shuo Jiang, Adarsh Salagame, Alireza Ramezani, Lawson L.S. Wong
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Robustified Time-optimal Collision-free Motion Planning for Autonomous Mobile Robots under Disturbance Conditions
Shuhao Zhang, Mathias Bos, Bastiaan Vandewal, Wilm Decré, Joris Gillis, Jan Swevers
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Probabilistic Motion Planning and Prediction Via Partitioned Scenario Replay
Oscar de Groot, Anish Sridharan, Javier Alonso-Mora, Laura Ferranti
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Circular Field Motion Planning for Highly-Dynamic Multi-Robot Systems with Application to Robot Soccer
Fabrice Zeug, Marvin Becker, Matthias A. Müller
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Leveraging Opportunism in Sample-Based Motion Planning
Michael Lanighan, Oscar Youngquist
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Distributionally Robust CVaR-Based Safety Filtering for Motion Planning in Uncertain Environments
Sleiman Safaoui, Tyler Summers
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Integrated Data-Driven Inference and Planning-Based Human Motion Prediction for Safe Human-Robot Interaction
Youngim Nam, Cheolhyeon Kwon
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Efficient RRT*-Based Safety-Constrained Motion Planning for Continuum Robots in Dynamic Environments
Peiyu Luo, Shilong Yao, Yiyao Yue, Hong Yan, Jiankun Wang, Max Q.-H. Meng
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Commonsense Spatial Knowledge-Aware 3-D Human Motion and Object Interaction Prediction
Sang Uk Lee
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Real-time Dynamic-consistent Motion Planning for Over-Actuated UAVs
Yao Su, Jingwen Zhang, Ziyuan Jiao, Hang Li, Meng Wang, Hangxin Liu
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Neural Potential Field for Obstacle-Aware Local Motion Planning
Muhammad Alhaddad, Konstantin Mironov, Aleksei Staroverov, Aleksandr Panov
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RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments
Apan Dastider, Hao Fang, Lin Mingjie
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Learning Force Control for Legged Manipulation
Tifanny Portela, Gabriel Margolis, Yandong Ji, Pulkit Agrawal
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Motion planning for 4WS vehicle with autonomous selection of steering modes via an MIQP-MPC controller
Ngoc Thinh Nguyen, Pranav Tej Gangavarapu, Nicolas Mandel, Ralf Bruder, Floris Ernst
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Safe and Individualized Motion Planning for Upper-Limb Exoskeleton Robots Using Human Demonstration and Interactive Learning
Yu Chen, Gong Chen, jing ye, Xiangjun Qiu, Xiang LI
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An Ergo-Interactive Framework for Human-Robot Collaboration Via Learning from Demonstration
Zhiwei Liao, Marta Lorenzini, Mattia Leonori, Fei Zhao, Gedong Jiang, Arash Ajoudani
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Learning Agile Flights through Narrow Gaps with Varying Angles Using Onboard Sensing
Yuhan XIE, Minghao Lu, Rui Peng, Peng Lu
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Online Adaptive Motion Generation for Humanoid Locomotion on Non-Flat Terrain Via Template Behavior Extension
Xiang Meng, Zhangguo YU, Xuechao Chen, Zelin Huang, Fei Meng, Qiang Huang
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ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics
Luca Paparusso, Shreyas Kousik, Edward Schmerling, Francesco Braghin, Marco Pavone
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Safety-Critical Coordination of Legged Robots Via Layered Controllers and Forward Reachable Set Based Control Barrier Functions
Jeeseop Kim, Jaemin Lee, Aaron Ames
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RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion
Dongho Kang, Jin Cheng, Miguel Angel Zamora Mora, Fatemeh Zargarbashi, Stelian Coros
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Motions in Microseconds Via Vectorized Sampling-Based Planning
Wil Thomason, Zachary Kingston, Lydia Kavraki
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