research
∙
07/01/2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
This work combines control barrier functions (CBFs) with a whole-body co...
share
research
∙
05/30/2022
Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear Model Predictive Control
This paper proposes a model predictive control (MPC) framework for reali...
research
∙
03/15/2021
HOPPY: An Open-source Kit for Education with Dynamic Legged Robots
This paper introduces HOPPY, an open-source, low-cost, robust, and modul...
research
∙
12/18/2020
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
This paper presents a novel Representation-Free Model Predictive Control...
research
∙
11/03/2020
Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program
This paper proposes a kinodynamic motion planning framework for multi-le...
research
∙
10/27/2020