research
∙
08/17/2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
Loco-manipulation planning skills are pivotal for expanding the utility ...
share
research
∙
03/09/2023
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators
Adaptive falling and recovery skills greatly extend the applicability of...
research
∙
11/18/2022
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation
Mobile manipulation in robotics is challenging due to the need of solvin...
research
∙
08/17/2022
Perceptive Locomotion through Nonlinear Model Predictive Control
Dynamic locomotion in rough terrain requires accurate foot placement, co...
research
∙
07/29/2022
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework
Model Predictive Control (MPC) schemes have proven their efficiency in c...
research
∙
06/28/2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and...
research
∙
03/14/2022
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
The ability to generate dynamic walking in real-time for bipedal robots ...
research
∙
03/04/2022
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach
This paper introduces a novel approach for whole-body motion planning an...
research
∙
02/24/2022
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
In this paper, we present a real-time whole-body planner for collision-f...
research
∙
01/11/2022
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators
Deep reinforcement learning produces robust locomotion policies for legg...
research
∙
12/08/2021
Adaptive CLF-MPC With Application To Quadrupedal Robots
Modern robotic systems are endowed with superior mobility and mechanical...
research
∙
06/08/2021
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
Modern, torque-controlled service robots can regulate contact forces whe...
research
∙
04/09/2021
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots
Planning for legged-wheeled machines is typically done using trajectory ...
research
∙
03/26/2021
Imitation Learning from MPC for Quadrupedal Multi-Gait Control
We present a learning algorithm for training a single policy that imitat...
research
∙
03/25/2021
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes
We present a model predictive controller (MPC) that automatically discov...
research
∙
03/18/2021
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
A kitchen assistant needs to operate human-scale objects, such as cabine...
research
∙
03/07/2021
Learning a State Representation and Navigation in Cluttered and Dynamic Environments
In this work, we present a learning-based pipeline to realise local navi...
research
∙
03/01/2021
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
In this paper, we propose a whole-body planning framework that unifies d...
research
∙
01/15/2021
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control
The Sequential Linear Quadratic (SLQ) algorithm is a continuous-time var...
research
∙
11/17/2020
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs
Quadrupedal robots are skillful at locomotion tasks while lacking manipu...
research
∙
12/04/2019
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
We present a fully-integrated sensing and control system which enables m...
research
∙
10/08/2019
Deep Value Model Predictive Control
In this paper, we introduce an actor-critic algorithm called Deep Value ...
research
∙
09/18/2019
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning
This paper addresses the problem of legged locomotion in non-flat terrai...
research
∙
09/11/2019
MPC-Net: A First Principles Guided Policy Search
We present an Imitation Learning approach for the control of dynamical s...
research
∙
05/15/2019
Feedback MPC for Torque-Controlled Legged Robots
The computational power of mobile robots is currently insufficient to ac...
research
∙
03/09/2019
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Locomotion planning for legged systems requires reasoning about suitable...
research
∙
02/27/2019
Whole-Body MPC for a Dynamically Stable Mobile Manipulator
Autonomous mobile manipulation is the cutting edge of the modern robotic...
research
∙
09/12/2018
Frequency-Aware Model Predictive Control
Transferring solutions found by trajectory optimization to robotic hardw...
research
∙
10/11/2017