Abstract: This paper proposes a novel self-collision avoidance (SCA) scheme for whole-body model predictive control (WB-MPC). Since WB-MPC deals with a large-scale optimization problem, which becomes ...
Abstract: Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement ...
Some results have been hidden because they may be inaccessible to you
Show inaccessible results