Cover Image

Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Zeng, Xuanqi, Zhang, Hongbo, Yue, Linzhu, Song, Zhitao, Zhang, Linwei, Liu, Yun-Hui
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
by: Zeng, Xuanqi, et al.
Published: (2026)

A Fast Online Omnidirectional Quadrupedal Jumping Framework Via Virtual-Model Control and Minimum Jerk Trajectory Generation
by: Yue, Linzhu, et al.
Published: (2024)

Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach
by: Zhang, Tianlin, et al.
Published: (2025)

Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
by: Yue, Linzhu, et al.
Published: (2024)

Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
by: Zhang, Hongbo, et al.
Published: (2024)

Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
by: Youm, Donghoon, et al.
Published: (2023)

Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control
by: Yuan, Xinyi, et al.
Published: (2024)

Risk-Aware Reinforcement Learning with Bandit-Based Adaptation for Quadrupedal Locomotion
by: Zeng, Yuanhong, et al.
Published: (2025)

VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
by: Zhang, Lingwei, et al.
Published: (2026)

Adaptive Legged Locomotion via Online Learning for Model Predictive Control
by: Zhou, Hongyu, et al.
Published: (2025)

Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion
by: Shin, Young-Ha, et al.
Published: (2023)

Learning to Hop for a Single-Legged Robot with Parallel Mechanism
by: Zhang, Hongbo, et al.
Published: (2025)

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
by: Shi, Fan, et al.
Published: (2024)

Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models
by: Ouyang, Yutao, et al.
Published: (2024)

SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion
by: Zhang, Aoqian, et al.
Published: (2025)

Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion
by: Wu, Tianyang, et al.
Published: (2026)

McARL:Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion
by: Mishra, Prakhar, et al.
Published: (2025)

QuietPaw: Learning Quadrupedal Locomotion with Versatile Noise Preference Alignment
by: Zhang, Yuyou, et al.
Published: (2025)

ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion
by: Zeng, Yicheng, et al.
Published: (2026)

Learning Quadrupedal Robot Locomotion for Narrow Pipe Inspection
by: Guo, Jing, et al.
Published: (2024)

Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies
by: Rytz, David, et al.
Published: (2025)

A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learning
by: Zhang, Hongyin, et al.
Published: (2023)

Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
by: Rytz, David, et al.
Published: (2025)

Learning Quadrupedal Locomotion for a Heavy Hydraulic Robot Using an Actuator Model
by: Lee, Minho, et al.
Published: (2026)

Skill-Nav: Enhanced Navigation with Versatile Quadrupedal Locomotion via Waypoint Interface
by: Wang, Dewei, et al.
Published: (2025)

Data-Driven Predictive Control for Robust Exoskeleton Locomotion
by: Li, Kejun, et al.
Published: (2024)

Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion
by: Duan, Xin, et al.
Published: (2024)

Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives
by: Gurram, Maurya, et al.
Published: (2024)

Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion
by: Zhou, Ziyi, et al.
Published: (2025)

Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
by: Wang, Chenghao, et al.
Published: (2025)

Dynamics Aware Quadrupedal Locomotion via Intrinsic Dynamics Head
by: Arora, Aman, et al.
Published: (2026)

Vibration of Soft, Twisted Beams for Under-Actuated Quadrupedal Locomotion
by: Jiang, Yuhao, et al.
Published: (2025)

Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels
by: Raj, Amir Hossain, et al.
Published: (2026)

HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
by: Iqbal, Amir, et al.
Published: (2024)

Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots
by: Amanzadeh, Leila, et al.
Published: (2026)

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
by: Kamohara, Junnosuke, et al.
Published: (2025)

Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking
by: Kim, Mincheol, et al.
Published: (2024)

Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning
by: Olsen, Jørgen Anker, et al.
Published: (2025)

UEREBot: Learning Safe Quadrupedal Locomotion under Unstructured Environments and High-Speed Dynamic Obstacles
by: Xu, Zihao, et al.
Published: (2026)

Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards
by: Hwang, Matthew, et al.
Published: (2026)