Imagen de Portada

RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control

Fuente: arXiv

Guardado en:

Detalles Bibliográficos
Autores principales:	Bang, Seung Hyeon, Jové, Carlos Arribalzaga, Sentis, Luis
Formato:	Preprint
Publicado:	2024
Materias:	Robotics
Acceso en línea:	Acceder al recurso
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

Ejemplares similares

Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers
por: Bang, Seung Hyeon, et al.
Publicado: (2024)

Dual-MPC Footstep Planning for Robust Quadruped Locomotion
por: Ham, Byeong-Il, et al.
Publicado: (2025)

Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC
por: Chen, Yiyu, et al.
Publicado: (2023)

RPC: A Modular Framework for Robot Planning, Control, and Deployment
por: Bang, Seung Hyeon, et al.
Publicado: (2024)

Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains
por: Maslennikov, Egor, et al.
Publicado: (2025)

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

FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting
por: Gaspard, Clément, et al.
Publicado: (2024)

CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping
por: He, Zhicheng, et al.
Publicado: (2024)

Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots
por: Penco, Luigi, et al.
Publicado: (2025)

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
por: Acosta, Brian, et al.
Publicado: (2025)

Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization
por: Gonzalez, Carlos, et al.
Publicado: (2024)

Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
por: Xiang, Zhaoyang, et al.
Publicado: (2026)

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
por: Li, Zhongyu, et al.
Publicado: (2024)

Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer
por: Chen, Qianzhong, et al.
Publicado: (2024)

Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
por: Gu, Zhaoyuan, et al.
Publicado: (2024)

RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion
por: Patrizi, Andrea, et al.
Publicado: (2026)

Capture Point Control in Thruster-Assisted Bipedal Locomotion
por: Pitroda, Shreyansh, et al.
Publicado: (2024)

Descriptive Model-based Learning and Control for Bipedal Locomotion
por: Kumar, Suraj, et al.
Publicado: (2025)

Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
por: Dai, Min, et al.
Publicado: (2026)

The Strange Attractor Model of Bipedal Locomotion and its Consequences on Motor Control
por: Tiseo, Carlo, et al.
Publicado: (2018)

Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
por: Lee, Ho Jae, et al.
Publicado: (2024)

Learning Agile Bipedal Motions on a Quadrupedal Robot
por: Li, Yunfei, et al.
Publicado: (2023)

Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
por: Ding, Jiatao, et al.
Publicado: (2019)

Learning Vision-Based Bipedal Locomotion for Challenging Terrain
por: Duan, Helei, et al.
Publicado: (2023)

The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
por: Xia, Boxi, et al.
Publicado: (2024)

Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
por: Bao, Lingfan, et al.
Publicado: (2024)

Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotion
por: Bao, Lingfan, et al.
Publicado: (2025)

Learning Agile Locomotion on Risky Terrains
por: Zhang, Chong, et al.
Publicado: (2023)

LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
por: Su, Haokai, et al.
Publicado: (2025)

Human Imitated Bipedal Locomotion with Frequency Based Gait Generator Network
por: Ates, Yusuf Baran, et al.
Publicado: (2025)

Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
por: Taouil, Ilyass, et al.
Publicado: (2023)

Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model
por: Chen, Kuo, et al.
Publicado: (2024)

Robust Robot Walker: Learning Agile Locomotion over Tiny Traps
por: Zhu, Shaoting, et al.
Publicado: (2024)

Heuristic Step Planning for Learning Dynamic Bipedal Locomotion: A Comparative Study of Model-Based and Model-Free Approaches
por: Suliman, William, et al.
Publicado: (2025)

State Estimation Transformers for Agile Legged Locomotion
por: Yu, Chen, et al.
Publicado: (2024)

Evaluation of an Actuated Spine in Agile Quadruped Locomotion
por: Bohlinger, Nico, et al.
Publicado: (2026)

Leveraging Symmetry in RL-based Legged Locomotion Control
por: Su, Zhi, et al.
Publicado: (2024)

Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
por: Castillo, Guillermo A., et al.
Publicado: (2025)

Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
por: Xiang, Zhaoyang, et al.
Publicado: (2024)

Safe Learning of Locomotion Skills from MPC
por: Pua, Xun, et al.
Publicado: (2024)