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07/01/2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
This work combines control barrier functions (CBFs) with a whole-body co...
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05/30/2022
Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear Model Predictive Control
This paper proposes a model predictive control (MPC) framework for reali...
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03/15/2021
HOPPY: An Open-source Kit for Education with Dynamic Legged Robots
This paper introduces HOPPY, an open-source, low-cost, robust, and modul...
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12/18/2020
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
This paper presents a novel Representation-Free Model Predictive Control...
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11/03/2020
Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program
This paper proposes a kinodynamic motion planning framework for multi-le...
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10/27/2020
