research
∙
09/08/2023
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
Trajectory optimization under uncertainties is a challenging problem for...
share
research
∙
05/26/2022
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
Generation of robust trajectories for legged robots remains a challengin...
research
∙
02/25/2022
On the Use of Torque Measurement in Centroidal State Estimation
State of the art legged robots are either capable of measuring torque at...
research
∙
05/15/2020
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance
Linear Model Predictive Control (MPC) has been successfully used for gen...
research
∙
07/27/2019
