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09/08/2023
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
Trajectory optimization under uncertainties is a challenging problem for...
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05/26/2022
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
Generation of robust trajectories for legged robots remains a challengin...
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02/25/2022
On the Use of Torque Measurement in Centroidal State Estimation
State of the art legged robots are either capable of measuring torque at...
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01/19/2022
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Online planning of whole-body motions for legged robots is challenging d...
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10/18/2021
A unified framework for walking and running of bipedal robots
In this paper, we propose a novel framework capable of generating variou...
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08/04/2021
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
In this paper we explore the use of block coordinate descent (BCD) to op...
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07/14/2021
Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration
In this work we present a general, two-stage reinforcement learning appr...
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11/09/2020
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control
This paper addresses the problem of computing optimal impedance schedule...
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10/28/2020
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Reactive stepping and push recovery for biped robots is often restricted...
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10/16/2020
Robot Learning with Crash Constraints
In the past decade, numerous machine learning algorithms have been shown...
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10/16/2020
Bipedal Walking Control using Variable Horizon MPC
In this paper, we present a novel two-level variable Horizon Model Predi...
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10/09/2020
Robust walking based on MPC with viability-based feasibility guarantees
Model predictive control (MPC) has shown great success for controlling c...
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10/02/2020
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
This paper investigates the problem of efficient computation of physical...
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08/08/2020
TriFinger: An Open-Source Robot for Learning Dexterity
Dexterous object manipulation remains an open problem in robotics, despi...
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05/15/2020
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance
Linear Model Predictive Control (MPC) has been successfully used for gen...
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09/30/2019
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
We present a new open-source torque-controlled legged robot system, with...
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07/17/2019
Learning Variable Impedance Control for Contact Sensitive Tasks
Reinforcement learning algorithms have shown great success in solving di...
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07/10/2019
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning
Trajectory optimization (TO) is one of the most powerful tools for gener...
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06/09/2019
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning
Trajectory optimization (TO) is one of the most powerful tools for gener...
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10/24/2018
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations
In this paper, we present an approach for generating a variety of whole-...
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10/24/2017