Cover Image

Dual-MPC Footstep Planning for Robust Quadruped Locomotion

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ham, Byeong-Il, Kim, Hyun-Bin, Kang, Jeonguk, Choi, Keun Ha, Kim, Kyung-Soo
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Parameter Optimization of Optical Six-Axis Force/Torque Sensor for Legged Robots
by: Kim, Hyun-Bin, et al.
Published: (2025)

Ground-Aware Octree-A* Hybrid Path Planning for Memory-Efficient 3D Navigation of Ground Vehicles
by: Ham, Byeong-Il, et al.
Published: (2025)

Compact Optical Single-axis Joint Torque Sensor Using Redundant Photo-Reflectors and Quadratic-Programming Calibration
by: Kim, Hyun-Bin, et al.
Published: (2026)

RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
by: Bang, Seung Hyeon, et al.
Published: (2024)

A Miniature High-Resolution Tension Sensor Based on a Photo-Reflector for Robotic Hands and Grippers
by: Kim, Hyun-Bin, et al.
Published: (2025)

A Novel 6-axis Force/Torque Sensor Using Inductance Sensors
by: Kim, Hyun-Bin, et al.
Published: (2025)

Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped
by: Karan, Saumya, et al.
Published: (2026)

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

Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
by: Trivedi, Ananya, et al.
Published: (2024)

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

Temperature Compensation Method of Six-Axis Force/Torque Sensor Using Gated Recurrent Unit
by: Kim, Hyun-Bin, et al.
Published: (2025)

Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator
by: Lee, Seokju, et al.
Published: (2025)

Learning Quadruped Locomotion Using Differentiable Simulation
by: Song, Yunlong, et al.
Published: (2024)

RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments
by: Narayanan, Sriram S. K. S., et al.
Published: (2026)

Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories
by: Kim, Gijeong, et al.
Published: (2023)

Robust Quadruped Locomotion via Evolutionary Reinforcement Learning
by: McAteer, Brian, et al.
Published: (2026)

Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
by: Ding, Jiatao, et al.
Published: (2025)

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction
by: Asselmeier, Max, et al.
Published: (2024)

Reinforcement Learning-based Robust Wall Climbing Locomotion Controller in Ferromagnetic Environment
by: Um, Yong, et al.
Published: (2025)

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

Spatio-Temporal Motion Retargeting for Quadruped Robots
by: Yoon, Taerim, et al.
Published: (2024)

Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain
by: Chang, Leixin, et al.
Published: (2025)

A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion
by: Kim, Min-Gyu, et al.
Published: (2025)

DRO-EDL-MPC: Evidential Deep Learning-Based Distributionally Robust Model Predictive Control for Safe Autonomous Driving
by: Ham, Hyeongchan, et al.
Published: (2025)

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

Online Optimization of Central Pattern Generators for Quadruped Locomotion
by: Zhang, Zewei, et al.
Published: (2024)

SLR: Learning Quadruped Locomotion without Privileged Information
by: Chen, Shiyi, et al.
Published: (2024)

Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing
by: Plozza, Davide, et al.
Published: (2025)

SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating
by: Cho, Hanbyel, et al.
Published: (2026)

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

RAY-TOLD: Ray-Based Latent Dynamics for Dense Dynamic Obstacle Avoidance with TDMPC
by: Han, Seungho, et al.
Published: (2026)

Learning Omnidirectional Locomotion for a Salamander-Like Quadruped Robot
by: Liu, Zhiang, et al.
Published: (2025)

Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations
by: Stasica, Maximilian, et al.
Published: (2025)

Physics-informed Neural Network Predictive Control for Quadruped Locomotion
by: Li, Haolin, et al.
Published: (2025)

Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
by: Atanassov, Vassil, et al.
Published: (2024)

Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion
by: Liu, Dikai, et al.
Published: (2024)

PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots
by: Xiao, Zhiyuan, et al.
Published: (2024)

Learning a Vision-Based Footstep Planner for Hierarchical Walking Control
by: Kim, Minku, et al.
Published: (2025)

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

PALo: Learning Posture-Aware Locomotion for Quadruped Robots
by: Miao, Xiangyu, et al.
Published: (2025)