惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

博客园 - 聂微东
奇客Solidot–传递最新科技情报
奇客Solidot–传递最新科技情报
月光博客
月光博客
博客园 - 三生石上(FineUI控件)
The Cloudflare Blog
博客园 - Franky
IT之家
IT之家
V
Visual Studio Blog
博客园 - 【当耐特】
阮一峰的网络日志
阮一峰的网络日志
V
V2EX
钛媒体:引领未来商业与生活新知
钛媒体:引领未来商业与生活新知
博客园 - 司徒正美
爱范儿
爱范儿
Hugging Face - Blog
Hugging Face - Blog
宝玉的分享
宝玉的分享
博客园 - 叶小钗
有赞技术团队
有赞技术团队
OSCHINA 社区最新新闻
OSCHINA 社区最新新闻
酷 壳 – CoolShell
酷 壳 – CoolShell
量子位
罗磊的独立博客
小众软件
小众软件
Jina AI
Jina AI

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Unified Multi-Rate Model Predictive Control for a Jet-Pow...
Davide Gorbani, Giuseppe L'Erario, Hosameldin Awadalla Omer Moha · 2025-05-22 · via cs.RO updates on arXiv.org

We propose a novel Model Predictive Control (MPC) framework for a jet-powered flying humanoid robot. The controller is based on a linearised centroidal momentum model to represent the flight dynamics, augmented with a second-order nonlinear model to explicitly account for the slow and nonlinear dynamics of jet propulsion. A key contribution is the introduction of a multi-rate MPC formulation that handles the different actuation rates of the robot's joints and jet engines while embedding the jet dynamics directly into the predictive model. We validated the framework using the jet-powered humanoid robot iRonCub, performing simulations in Mujoco; the simulation results demonstrate the robot's ability to recover from external disturbances and perform stable, non-abrupt flight manoeuvres, validating the effectiveness of the proposed approach.