Abstract: This paper presents an error-state Model Predictive Path Integral (MPPI) framework for tendon-driven continuum robots (TDCRs). Tracking-error dynamics are ...
In this paper we propose an adaptive model predictive path integral (MPPI) controller for legged robots to achieve smooth and accurate path tracking along the pre-designed path. To address the ...
Pure CUDA implementation for maximum performance Python bindings via nanobind JIT compilation support for custom dynamics Multiple controller variants Optimized CUDA kernels for parallel sampling This ...
The MPCC is a model predictive path following controller which does follow a predefined reference path X^ref and Y^ref. This is achieved by augmenting the system with an integrator stated theta which ...
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