In robotics, designing robust algorithms in the face of estimation
uncer...
Online trajectory optimization techniques generally depend on heuristic-...
Model predictive control is a powerful tool to generate complex motions ...
Online planning of whole-body motions for legged robots is challenging d...
Optimal control is a successful approach to generate motions for complex...
In this paper we explore the use of block coordinate descent (BCD) to
op...
Reactive stepping and push recovery for biped robots is often restricted...
This paper investigates the problem of efficient computation of physical...
We present a new open-source torque-controlled legged robot system, with...