Carlos Mastalli | DeepAI

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∙ 06/02/2023

Optimal Control for Articulated Soft Robots

Soft robots can execute tasks with safer interactions. However, control ...

0 Saroj Prasad Chhatoi, et al. ∙

∙ 05/15/2023

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection

Real-time synthesis of legged locomotion maneuvers in challenging indust...

0 Thomas Corbères, et al. ∙

∙ 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...

0 Jaehyun Shim, et al. ∙

∙ 09/12/2022

Inverse-Dynamics MPC via Nullspace Resolution

Optimal control (OC) using inverse dynamics provides numerical benefits ...

0 Carlos Mastalli, et al. ∙

∙ 09/02/2022

Differentiable Optimal Control via Differential Dynamic Programming

Robot design optimization, imitation learning and system identification ...

0 Traiko Dinev, et al. ∙

∙ 03/14/2022

Agile Maneuvers in Legged Robots: a Predictive Control Approach

Achieving agile maneuvers through multiple contact phases has been a lon...

11 Carlos Mastalli, et al. ∙

∙ 03/08/2021

Co-Designing Robots by Differentiating Motion Solvers

We present a novel algorithm for the computational co-design of legged r...

0 Traiko Dinev, et al. ∙

∙ 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...

0 Julian Esser, et al. ∙

∙ 10/01/2020

A Direct-Indirect Hybridization Approach to Control-Limited DDP

Optimal control is a widely used tool for synthesizing motions and contr...

0 Carlos Mastalli, et al. ∙

∙ 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...

0 Carlos Mastalli, et al. ∙

∙ 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...

0 Teguh Santoso Lembono, et al. ∙

∙ 09/11/2019

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Li...

0 Carlos Mastalli, et al. ∙

∙ 04/10/2019

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

A common strategy today to generate efficient locomotion movements is to...

0 Rohan Budhiraja, et al. ∙

∙ 04/09/2019

Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences

Most animal and human locomotion behaviors for solving complex tasks inv...

0 Carlos Mastalli, et al. ∙

∙ 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...

0 Bernardo Aceituno-Cabezas, et al. ∙

∙ 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...

0 Alexander W. Winkler, et al. ∙

∙ 04/07/2019

On-line and on-board planning and perception for quadrupedal locomotion

We present a legged motion planning approach for quadrupedal locomotion ...

0 Carlos Mastalli, et al. ∙

∙ 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...

0 Shamel Fahmi, et al. ∙

∙ 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...

0 Michele Focchi, et al. ∙

∙ 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...

0 Romeo Orsolino, et al. ∙

∙ 12/07/2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)

The motivation of our current research is to devise motion planners for ...

0 Romeo Orsolino, et al. ∙

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