Aug 2026· International Journal of Control, Automation and Systems· Vol 24, pp. 2372 - 2394· 0 citations· 37 references
TL;DR
An enhanced model predictive path integral control framework that coordinates adaptive nominal-sequence update and perturbation generation within the standard control loop is proposed, which improves tracking accuracy, disturbance recovery, and contact-force smoothness while preserving the standard rollout-and-reweighting structure.
Humanoid robots promise versatile mobility in cluttered, human-centric environments, but real deployment demands principled safety. Classical model-based gait generators yield interpretable motions but often lack the robustness and adaptability of modern reinforcement learning (RL) based approaches. We propose a model-...
A constrained, closed-loop model predictive control (MPC) approach for highly dynamic DLO manipulation is introduced, integrating hardware and environmental limits into the MPC as soft constraints, enabling tasks like dynamic tracking with endpoint wall avoidance.
Marc Kilian Klankers, Jochen J. Steil· Robotics· 0 citations
Quadrupedal robots operating in unstructured environments require adaptive control systems that can handle diverse terrain conditions without prior surface characterization. This paper presents an integrated control architecture that combines Model Predictive Control (MPC) with adaptive impedance control and SINDy‐ba...
Peter James McConnellogue, Mien Van, Rhyss McMullan et al.· International Journal of Rob...· 0 citations
Legged robots have demonstrated a remarkable ability to traverse various terrains, yet generating effective loco-manipulation behaviors remains challenging. A key difficulty is that object and terrain parameters are typically unknown to the robot, and mismatches between these parameters and their simulated counterparts...
: Stable high-speed locomotion of legged robotic platforms depends on gait parameters that are usually tuned by hand, with no guarantee that the resulting cycle is stable or efficient. This paper builds a hybrid dynamical model of the center-of-mass trajectory using a spring-loaded inverted pendulum abstraction, with s...
Model Predictive Control is an effective tool for robust humanoid gait generation in complex 3D environments. This challenging operating condition typically results in non-convex footstep constraints which, if directly included in the optimization problem, would introduce significant computation overhead. We present a...
Andrew S. Habib, Nicola Scianca, L. Lanari et al.· IEEE Robotics and Automation...· 0 citations
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