Alexander Schperberg | DeepAI

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∙ 09/07/2022

Real-to-Sim: Deep Learning with Auto-Tuning to Predict Residual Errors using Sparse Data

Achieving highly accurate kinematic or simulator models that are close t...

13 Alexander Schperberg, et al. ∙

∙ 07/16/2022

Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion

Convex model predictive controls (MPCs) with a single rigid body model h...

0 Xuan Lin, et al. ∙

∙ 07/04/2022

Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

While motion planning of locomotion for legged robots has shown great su...

2 Yuki Shirai, et al. ∙

∙ 07/04/2022

SCALER: A Tough Versatile Quadruped Free-Climber Robot

This paper introduces SCALER, a quadrupedal robot that demonstrates clim...

0 Yusuke Tanaka, et al. ∙

∙ 07/03/2022

Auto-Calibrating Admittance Controller for Robust Motion of Robotic Systems

We demonstrate an admittance controller with auto-tuning that can be app...

0 Alexander Schperberg, et al. ∙

∙ 08/03/2021

SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots

We present an end-to-end online motion planning framework that uses a da...

7 Alexander Schperberg, et al. ∙

∙ 07/28/2020

Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance

In this paper, we propose an online path planning architecture that exte...

19 Alexander Schperberg, et al. ∙

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