The DOI matches its Crossref record; 27 of the 27 references it cites were found in a registry or an index.
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
Open accessAbstract
In this letter, we present a whole-body nonlinear model predictive control approach for rigid body systems subject to contacts. We use a full-dynamic system model which also includes explicit contact dynamics. Therefore, contact locations, sequences, and timings are not prespecified but optimized by the solver. Yet, using numerical and software engineering allows for running the nonlinear Optimal Control solver at rates up to 190 Hz on a quadruped for a time horizon of half a second. This outperforms the state-of-the-art by at least one order of magnitude. Hardware experiments in the form of periodic and nonperiodic tasks are applied to two quadrupeds with different actuation systems. The obtained results underline the performance, transferability, and robustness of the approach.
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Cites
ANYmal - a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7758092 · Cited by 969 · cited 11×
“We show that the approach transfers between platforms, and apply the same framework to the two quadrupeds HyQ and ANYmal (Figure 1).”
MethodInfluentialSelf-citationOptimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Kuindersma, S., Deits, R., Fallon, M., Valenzuela, A., Dai, H., Permenter, F., Koolen, T., Marion, P., & Tedrake, R. (2016) · Autonomous Robots · doi:10.1007/s10514-015-9479-3 · Cited by 835
Design of HyQ – a hydraulically and electrically actuated quadruped robot
Semini, C., Tsagarakis, N. G., Guglielmino, E., Focchi, M., Cannella, F., & Caldwell, D. G. (2011) · Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering · doi:10.1177/0959651811402275 · Cited by 630
Todorov, E., & Li, W. (2005) · Proceedings of the 2005, American Control Conference, 2005. · doi:10.1109/acc.2005.1469949 · Cited by 611
A direct method for trajectory optimization of rigid bodies through contact
Posa, M., Cantu, C., & Tedrake, R. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913506757 · Cited by 597
A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
Diehl, M., Bock, H. G., & Schlöder, J. P. (2005) · SIAM Journal on Control and Optimization · doi:10.1137/s0363012902400713 · Cited by 570
Virtual Model Control: An Intuitive Approach for Bipedal Locomotion
Pratt, J., Chew, C.-M., Torres, A., Dilworth, P., & Pratt, G. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067309 · Cited by 548
Whole-body motion planning with centroidal dynamics and full kinematics
Dai, H., Valenzuela, A., & Tedrake, R. (2014) · 2014 IEEE-RAS International Conference on Humanoid Robots · doi:10.1109/humanoids.2014.7041375 · Cited by 423
Fast Direct Multiple Shooting Algorithms for Optimal Robot Control
Diehl, M., Bock, H. G., Diedam, H., & Wieber, P.-B. (2007) · Lecture Notes in Control and Information Sciences · doi:10.1007/978-3-540-36119-0_4 · Cited by 344
Learning, planning, and control for quadruped locomotion over challenging terrain
Kalakrishnan, M., Buchli, J., Pastor, P., Mistry, M., & Schaal, S. (2011) · The International Journal of Robotics Research · doi:10.1177/0278364910388677 · Cited by 294
Self-citation
Metadata
- Authors
- Neunert, M., Stauble, M., Giftthaler, M., Bellicoso, C. D., Carius, J., Gehring, C., Hutter, M., & Buchli, J.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2018-07
- Volume
- 3
- Issue
- 3
- Pages
- 1458-1465
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2771691050
- Cited by
- 284
- References
- 27
- FWCI
- 9.44
- Type
- journal article
- Language
- en
- Open access
- green
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- Neunert, M., Stauble, M., Giftthaler, M., Bellicoso, C. D., Carius, J., Gehring, C., Hutter, M., & Buchli, J. (2018). Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2018.2800124
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