New real-time hybrid MPC schemes solve QPCCs per sample to yield bounded-error piecewise affine approximations to discontinuous MPC feedback laws for systems with switches.
Contact-implicit model predictive control: Controlling diverse quadruped motions without pre-planned contact modes or trajectories
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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2026 2verdicts
UNVERDICTED 2representative citing papers
PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.
citing papers explorer
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Real-Time Algorithms for Model Predictive Control of Hybrid Dynamical Systems
New real-time hybrid MPC schemes solve QPCCs per sample to yield bounded-error piecewise affine approximations to discontinuous MPC feedback laws for systems with switches.
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PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.