Centroidal Dynamics

Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the …
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
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Learning to Guide Online Multi-Contact Receding Horizon Planning
In Receding Horizon Planning (RHP), it is critical that the motion being executed facilitates the completion of the task, e.g. building …
Jiayi Wang, Teguh Santoso Lembono, Sanghyun Kim, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
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Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion
When traversing uneven terrain, humans consider their future steps for choosing the best location and timing of their current step. …
Jiayi Wang, Sanghyun Kim, Sethu Vijayakumar, Steve Tonneau
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