Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control
Author:
Affiliation:
1. University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089
Funder
National Science Foundation
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/10160211/10160212/10160507.pdf?arnumber=10160507
Reference29 articles.
1. Roloma: Robust loco-manipulation for quadruped robots with arms;ferrolho;ArXiv Preprint,2022
2. Loco-Manipulation Control for Arm-Mounted Quadruped Robots: Dynamic and Kinematic Strategies
3. ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot
4. Towards a multi-legged mobile manipulator
5. Whole-body motion planning with centroidal dynamics and full kinematics
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1. Force Push: Robust Single-Point Pushing With Force Feedback;IEEE Robotics and Automation Letters;2024-08
2. Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13
3. Gait Stability Control of Quadruped Robot by Composite Nonlinear Feedback and Model Predictive Control;2024 3rd Conference on Fully Actuated System Theory and Applications (FASTA);2024-05-10
4. Learning Whole-Body Manipulation for Quadrupedal Robot;IEEE Robotics and Automation Letters;2024-01
5. Kinodynamic Pose Optimization for Humanoid Loco-Manipulation;2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids);2023-12-12
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