Model-based Control: Quadrupeds

← All resources

  1. Survey Paper: Optimization-Based Control for Dynamic Legged Robots [Paper]
  2. Convex MPC for Quadruped walking: Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control [Paper]
  3. Feedback MPC: Feedback MPC for Torque-Controlled Legged Robots [Paper]
  4. RF-MPC: Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds [Paper] [Github]
  5. Motion Imitation: Learning Agile Robotic Locomotion Skills by Imitating Animals [Paper] [Github]
  6. Non-Linear RF-MPC: Real-Time Constrained Nonlinear Model Predictive Control on SO(3) or Dynamic Legged Locomotion [Paper]
  7. WBC+MPC: Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control [Paper]

Mirrored from topics/control/model-based-control-quadrupeds.md in the Legged-Robots repository, where corrections and additions are welcome.