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06/02/2023
Optimal Control for Articulated Soft Robots
Soft robots can execute tasks with safer interactions. However, control ...
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05/15/2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Real-time synthesis of legged locomotion maneuvers in challenging indust...
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03/24/2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
State-of-the-art approaches to footstep planning assume reduced-order dy...
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09/12/2022
Inverse-Dynamics MPC via Nullspace Resolution
Optimal control (OC) using inverse dynamics provides numerical benefits ...
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09/02/2022
Differentiable Optimal Control via Differential Dynamic Programming
Robot design optimization, imitation learning and system identification ...
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03/14/2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Achieving agile maneuvers through multiple contact phases has been a lon...
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03/08/2021
Co-Designing Robots by Differentiating Motion Solvers
We present a novel algorithm for the computational co-design of legged r...
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01/26/2021
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
Last decades of humanoid research has shown that humanoids developed for...
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10/01/2020
A Direct-Indirect Hybridization Approach to Control-Limited DDP
Optimal control is a widely used tool for synthesizing motions and contr...
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03/11/2020
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
Planning whole-body motions while taking into account the terrain condit...
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01/31/2020
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
In this paper, we propose a framework to build a memory of motion to war...
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09/11/2019
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Li...
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04/10/2019
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
A common strategy today to generate efficient locomotion movements is to...
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04/09/2019
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Most animal and human locomotion behaviors for solving complex tasks inv...
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04/09/2019
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Traditional motion planning approaches for multi-legged locomotion divid...
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04/07/2019
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
We present a framework for dynamic quadrupedal locomotion over challengi...
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04/07/2019
On-line and on-board planning and perception for quadrupedal locomotion
We present a legged motion planning approach for quadrupedal locomotion ...
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11/02/2018
Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain
We present a passivity-based Whole-Body Control approach for quadruped r...
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05/25/2018
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
The quality of the visual feedback can vary significantly on a legged ro...
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12/19/2017
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes
Motion planning in multi-contact scenarios has recently gathered interes...
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12/07/2017