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Learning-based legged locomotion: State of the art and future perspectives
S Ha, J Lee, M van de Panne, Z **
Performing acrobatic maneuvers like dynamic jum** in bipedal robots presents significant
challenges in terms of actuation, motion planning, and control. Traditional approaches to …
challenges in terms of actuation, motion planning, and control. Traditional approaches to …
Consensus complementarity control for multi-contact mpc
We propose a hybrid model predictive control algorithm, consensus complementarity
control, for systems that make and break contact with their environment. Many state-of-the …
control, for systems that make and break contact with their environment. Many state-of-the …
Mpcgpu: Real-time nonlinear model predictive control through preconditioned conjugate gradient on the gpu
E Adabag, M Atal, W Gerard… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Nonlinear Model Predictive Control (NMPC) is a state-of-the-art approach for locomotion
and manipulation which leverages trajectory optimization at each control step. While the …
and manipulation which leverages trajectory optimization at each control step. While the …
Towards tight convex relaxations for contact-rich manipulation
We present a novel method for global motion planning of robotic systems that interact with
the environment through contacts. Our method directly handles the hybrid nature of such …
the environment through contacts. Our method directly handles the hybrid nature of such …