Cover Image

Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Alvarez-Padilla, Juan, Zhang, John Z., Kwok, Sofia, Dolan, John M., Manchester, Zachary
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

Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
by: Zhang, John Z., et al.
Published: (2025)

The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control
by: Bishop, Arun L., et al.
Published: (2025)

Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots
by: Zhang, Zixin, et al.
Published: (2024)

Control of Legged Robots using Model Predictive Optimized Path Integral
by: Keshavarz, Hossein, et al.
Published: (2025)

Multi-IMU Sensor Fusion for Legged Robots
by: Yang, Shuo, et al.
Published: (2025)

Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
by: Iyer, Shrutheesh R, et al.
Published: (2026)

Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain
by: Shi, Lei, et al.
Published: (2024)

Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
by: Tao, Chuyuan, et al.
Published: (2026)

Hierarchical Learning Framework for Whole-Body Model Predictive Control of a Real Humanoid Robot
by: Ishihara, Koji, et al.
Published: (2024)

A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
by: Li, Bolin, et al.
Published: (2025)

A Universal Formulation for Path-Parametric Planning and Control
by: Arrizabalaga, Jon, et al.
Published: (2024)

GPO: Growing Policy Optimization for Legged Robot Locomotion and Whole-Body Control
by: Liao, Shuhao, et al.
Published: (2026)

Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots
by: Khazoom, Charles, et al.
Published: (2024)

Object-Informed Model Predictive Path Integral Control for Non-Prehensile Robot Manipulation
by: Raicevic, Nikola, et al.
Published: (2026)

Multi-Contact Whole-Body Force Control for Position-Controlled Robots
by: Rouxel, Quentin, et al.
Published: (2023)

Learning Whole-Body Control for a Salamander Robot
by: Tian, Mengze, et al.
Published: (2026)

A Three-Level Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
by: Li, Bolin, et al.
Published: (2025)

Expressive Whole-Body Control for Humanoid Robots
by: Cheng, Xuxin, et al.
Published: (2024)

Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots
by: Dugar, Pranay, et al.
Published: (2024)

Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
by: Zhang, John Z., et al.
Published: (2026)

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
by: He, Tairan, et al.
Published: (2024)

Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
by: Zhang, Shibowen, et al.
Published: (2026)

Smooth Model Predictive Path Integral Control without Smoothing
by: Kim, Taekyung, et al.
Published: (2021)

TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
by: Alavilli, Anoushka, et al.
Published: (2023)

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

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
by: Yang, Shunpeng, et al.
Published: (2024)

Transformer-Based Model Predictive Path Integral Control
by: Zinage, Shrenik, et al.
Published: (2024)

Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
by: Li, He, et al.
Published: (2024)

Visual Whole-Body Control for Legged Loco-Manipulation
by: Liu, Minghuan, et al.
Published: (2024)

Whole-Body Safe Control of Robotic Systems with Koopman Neural Dynamics
by: Jung, Sebin, et al.
Published: (2026)

Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles
by: Minarik, Michal, et al.
Published: (2024)

Learning Model Predictive Control with Error Dynamics Regression for Autonomous Racing
by: Xue, Haoru, et al.
Published: (2023)

Multi-Modal Model Predictive Path Integral Control for Collision Avoidance
by: Bertipaglia, Alberto, et al.
Published: (2025)

Shape-Aware Whole-Body Control for Continuum Robots with Application in Endoluminal Surgical Robotics
by: Kasaei, Mohammadreza, et al.
Published: (2025)

Low Frequency Sampling in Model Predictive Path Integral Control
by: Vlahov, Bogdan, et al.
Published: (2024)

Disturbance Observer-based Control Barrier Functions with Residual Model Learning for Safe Reinforcement Learning
by: Kalaria, Dvij, et al.
Published: (2024)

A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots
by: Yuan, Mingqi, et al.
Published: (2025)

Stein-based Optimization of Sampling Distributions in Model Predictive Path Integral Control
by: Aldrich, Jace, et al.
Published: (2025)

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
by: Muchacho, Rafael I. Cabral, et al.
Published: (2025)

Towards Local Minima-free Robotic Navigation: Model Predictive Path Integral Control via Repulsive Potential Augmentation
by: Fuke, Takahiro, et al.
Published: (2024)