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06/07/2023
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Planning multi-contact motions in a receding horizon fashion requires a ...
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05/24/2023
Neural Lyapunov and Optimal Control
Optimal control (OC) is an effective approach to controlling complex dyn...
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05/15/2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Real-time synthesis of legged locomotion maneuvers in challenging indust...
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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...
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09/12/2022
Inverse-Dynamics MPC via Nullspace Resolution
Optimal control (OC) using inverse dynamics provides numerical benefits ...
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09/02/2022
Differentiable Optimal Control via Differential Dynamic Programming
Robot design optimization, imitation learning and system identification ...
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09/23/2021
Optimal Control via Combined Inference and Numerical Optimization
Derivative based optimization methods are efficient at solving optimal c...
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09/16/2021
Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem
Non-linear Trajectory Optimisation (TO) methods require good initial gue...
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03/08/2021
Co-Designing Robots by Differentiating Motion Solvers
We present a novel algorithm for the computational co-design of legged r...
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11/19/2020
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization
One challenge of legged locomotion on uneven terrains is to deal with bo...
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09/19/2019