Research
Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
By Brian Acosta and Michael Posa
Video
PDF
Arxiv
Friction Cone Constrained QP Solver for Whole Body Control
By Brian Acosta
PDF
Code
Bipedal Walking on Constrained Footholds with MPC Footstep Control
By Brian Acosta and Michael Posa
Video
PDF
Arxiv
Publisher
Validating Robotics Simulators on Real-World Impacts
By Brian Acosta*, William Yang*, and Michael Posa
PDF
Arxiv
Publisher
