Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion

Sergio A. Esteban; Vince Kurtz; Adrian B. Ghansah; Aaron D. Ames

doi:10.1109/ICRA55743.2025.11127605

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion

Sergio A. Esteban
, Vince Kurtz
, Adrian B. Ghansah
, Aaron D. Ames

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Original language	English
Title of host publication	2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Editors	Christian Ott, Henny Admoni, Sven Behnke, Stjepan Bogdan, Aude Bolopion, Youngjin Choi, Fanny Ficuciello, Nicholas Gans, Clement Gosselin, Kensuke Harada, Erdal Kayacan, H. Jin Kim, Stefan Leutenegger, Zhe Liu, Perla Maiolino, Lino Marques, Takamitsu Matsubara, Anastasia Mavromatti, Mark Minor, Jason O'Kane, Hae Won Park, Hae-Won Park, Ioannis Rekleitis, Federico Renda, Elisa Ricci, Laurel D. Riek, Lorenzo Sabattini, Shaojie Shen, Yu Sun, Pierre-Brice Wieber, Katsu Yamane, Jingjin Yu
Publisher	IEEE (Institute of Electrical and Electronics Engineers)
Pages	14735-14741
Number of pages	7
ISBN (Electronic)	9798331541392
DOIs	https://doi.org/10.1109/ICRA55743.2025.11127605
State	Published - 2025
Externally published	Yes
Event	2025 IEEE International Conference on Robotics and Automation, ICRA 2025 - Atlanta, United States Duration: May 19 2025 → May 23 2025

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Country/Territory	United States
City	Atlanta
Period	5/19/25 → 5/23/25

ASJC Scopus Subject Areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA55743.2025.11127605

Cite this

Esteban, S. A., Kurtz, V., Ghansah, A. B., & Ames, A. D. (2025). Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. In C. Ott, H. Admoni, S. Behnke, S. Bogdan, A. Bolopion, Y. Choi, F. Ficuciello, N. Gans, C. Gosselin, K. Harada, E. Kayacan, H. J. Kim, S. Leutenegger, Z. Liu, P. Maiolino, L. Marques, T. Matsubara, A. Mavromatti, M. Minor, J. O'Kane, H. W. Park, H.-W. Park, I. Rekleitis, F. Renda, E. Ricci, L. D. Riek, L. Sabattini, S. Shen, Y. Sun, P.-B. Wieber, K. Yamane, ... J. Yu (Eds.), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025 (pp. 14735-14741). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE (Institute of Electrical and Electronics Engineers). https://doi.org/10.1109/ICRA55743.2025.11127605

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. / Esteban, Sergio A.; Kurtz, Vince; Ghansah, Adrian B. et al.
2025 IEEE International Conference on Robotics and Automation, ICRA 2025. ed. / Christian Ott; Henny Admoni; Sven Behnke; Stjepan Bogdan; Aude Bolopion; Youngjin Choi; Fanny Ficuciello; Nicholas Gans; Clement Gosselin; Kensuke Harada; Erdal Kayacan; H. Jin Kim; Stefan Leutenegger; Zhe Liu; Perla Maiolino; Lino Marques; Takamitsu Matsubara; Anastasia Mavromatti; Mark Minor; Jason O'Kane; Hae Won Park; Hae-Won Park; Ioannis Rekleitis; Federico Renda; Elisa Ricci; Laurel D. Riek; Lorenzo Sabattini; Shaojie Shen; Yu Sun; Pierre-Brice Wieber; Katsu Yamane; Jingjin Yu. IEEE (Institute of Electrical and Electronics Engineers), 2025. p. 14735-14741 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Esteban, SA, Kurtz, V, Ghansah, AB & Ames, AD 2025, Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, HJ Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, HW Park, H-W Park, I Rekleitis, F Renda, E Ricci, LD Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (eds), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. Proceedings - IEEE International Conference on Robotics and Automation, IEEE (Institute of Electrical and Electronics Engineers), pp. 14735-14741, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, United States, 5/19/25. https://doi.org/10.1109/ICRA55743.2025.11127605

Esteban SA, Kurtz V, Ghansah AB, Ames AD. Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. In Ott C, Admoni H, Behnke S, Bogdan S, Bolopion A, Choi Y, Ficuciello F, Gans N, Gosselin C, Harada K, Kayacan E, Kim HJ, Leutenegger S, Liu Z, Maiolino P, Marques L, Matsubara T, Mavromatti A, Minor M, O'Kane J, Park HW, Park HW, Rekleitis I, Renda F, Ricci E, Riek LD, Sabattini L, Shen S, Sun Y, Wieber PB, Yamane K, Yu J, editors, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. IEEE (Institute of Electrical and Electronics Engineers). 2025. p. 14735-14741. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA55743.2025.11127605

Esteban, Sergio A. ; Kurtz, Vince ; Ghansah, Adrian B. et al. / Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. editor / Christian Ott ; Henny Admoni ; Sven Behnke ; Stjepan Bogdan ; Aude Bolopion ; Youngjin Choi ; Fanny Ficuciello ; Nicholas Gans ; Clement Gosselin ; Kensuke Harada ; Erdal Kayacan ; H. Jin Kim ; Stefan Leutenegger ; Zhe Liu ; Perla Maiolino ; Lino Marques ; Takamitsu Matsubara ; Anastasia Mavromatti ; Mark Minor ; Jason O'Kane ; Hae Won Park ; Hae-Won Park ; Ioannis Rekleitis ; Federico Renda ; Elisa Ricci ; Laurel D. Riek ; Lorenzo Sabattini ; Shaojie Shen ; Yu Sun ; Pierre-Brice Wieber ; Katsu Yamane ; Jingjin Yu. IEEE (Institute of Electrical and Electronics Engineers), 2025. pp. 14735-14741 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion",

author = "Esteban, \{Sergio A.\} and Vince Kurtz and Ghansah, \{Adrian B.\} and Ames, \{Aaron D.\}",

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AU - Esteban, Sergio A.

AU - Kurtz, Vince

AU - Ghansah, Adrian B.

AU - Ames, Aaron D.

PY - 2025

Y1 - 2025

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BT - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025

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A2 - Admoni, Henny

A2 - Behnke, Sven

A2 - Bogdan, Stjepan

A2 - Bolopion, Aude

A2 - Choi, Youngjin

A2 - Ficuciello, Fanny

A2 - Gans, Nicholas

A2 - Gosselin, Clement

A2 - Harada, Kensuke

A2 - Kayacan, Erdal

A2 - Kim, H. Jin

A2 - Leutenegger, Stefan

A2 - Liu, Zhe

A2 - Maiolino, Perla

A2 - Marques, Lino

A2 - Matsubara, Takamitsu

A2 - Mavromatti, Anastasia

A2 - Minor, Mark

A2 - O'Kane, Jason

A2 - Park, Hae Won

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A2 - Sun, Yu

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A2 - Yu, Jingjin

PB - IEEE (Institute of Electrical and Electronics Engineers)

T2 - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025

Y2 - 19 May 2025 through 23 May 2025

ER -

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion

Publication series

Conference

ASJC Scopus Subject Areas

Access to Document

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