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Modeling and Control of a Hybrid Wheeled Jumping Robot
In this paper, we study a wheeled robot with a prismatic extension joint...
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Reactive Planar Manipulation with Convex Hybrid MPC
This paper presents a reactive controller for planar manipulation tasks ...
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Heteroscedastic Bayesian Optimisation for Stochastic Model Predictive Control
Model predictive control (MPC) has been successful in applications invol...
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Declarative vs Rule-based Control for Flocking Dynamics
The popularity of rule-based flocking models, such as Reynolds' classic ...
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Coordinated Motion Control and Event-based Obstacle-crossing for Four Wheel-leg Independent Motor-driven Robotic System via MPC
This work presents the coordinated motion control and obstacle-crossing ...
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Whole-Body MPC for a Dynamically Stable Mobile Manipulator
Autonomous mobile manipulation is the cutting edge of the modern robotic...
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Feedback MPC for Torque-Controlled Legged Robots
The computational power of mobile robots is currently insufficient to ac...
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Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational dynamics using the rotation matrix, which liberates us from the issues associated with the use of Euler angles and quaternion as the orientation representations. With a variation-based linearization scheme and a carefully constructed cost function, the MPC control law is transcribed to the standard Quadratic Program (QP) form. The MPC controller can operate at real-time rates of 250 Hz on a quadruped robot. Experimental results including periodic quadrupedal gaits and a controlled backflip validate that our control strategy could stabilize dynamic motions that involve singularity in 3D maneuvers.
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