Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control

Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, +2

EngineeringField RoboticsMotor ControlAdvanced Motion ControlKinesiology +23

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot

Gerardo Bledt, Matthew J. Powell, Benjamin Katz, +3

Robot KinematicsCheetah 3EngineeringField RoboticsMotor Control +17

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

Donghyun Kim, Jared Di Carlo, Benjamin Katz, +2

arXiv (Cornell University)

EngineeringFlying RobotMotor ControlAdvanced Motion ControlDynamic Legged Locomotion +17

Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains

Gerardo Bledt, Patrick M. Wensing, Sam Ingersoll, +1

Robot KinematicsEngineeringField RoboticsIntelligent RoboticsAdvanced Motion Control +21

Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot

D. Kim, Daniel Carballo, Jared Di Carlo, +4

EngineeringIrregular TerrainField RoboticsIntelligent RoboticsRescue Robot +17

Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah

Gerardo Bledt, Patrick M. Wensing, Sangbae Kim

Robot KinematicsEngineeringFitnessField RoboticsMit Cheetah +16

Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization

Gerardo Bledt, Sangbae Kim

EngineeringField RoboticsPrediction HorizonRobot PlatformNonlinear Optimization +21

Extracting Legged Locomotion Heuristics with Regularized Predictive Control

Gerardo Bledt, Sangbae Kim

EngineeringField RoboticsMini Cheetah RobotKinesiologyTrajectory Planning +16

Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments

Thomas Dudzik, Matthew Chignoli, Gerardo Bledt, +4

EngineeringAnimal-level AgilityField RoboticsIntelligent RoboticsFlying Robot +19

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

Chiheb Boussema, Matthew J. Powell, Gerardo Bledt, +3

IEEE Robotics and Automation Letters

EngineeringField RoboticsMotor ControlAdvanced Motion ControlLeg Utility +23