Task-Space Motion-Force Nonlinear Model Predictive Control for Precise and Compliant Control under Uncertainties
cs.RO
Submitted: 2026-10-12
Updated: 2026-10-12
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
- HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations
- A micro Lie theory for state estimation in robotics
- SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion
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