1.5k citations · 2.3k across the 15 of their papers we have counts for
26 papers
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen +3
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces genera…
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots
Edo Jelavic, Farbod Farshidian, Marco Hutter
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling pre…
3D Surfel Map-Aided Visual Relocalization with Learned Descriptors
Haoyang Ye, Huaiyang Huang, Marco Hutter +2
In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D…
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes
Magnus Gaertner, Marko Bjelonic, Farbod Farshidian +1
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constra…
Learning a State Representation and Navigation in Cluttered and Dynamic Environments
David Hoeller, Lorenz Wellhausen, Farbod Farshidian +1
In this work, we present a learning-based pipeline to realise local navigation with a quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high-leve…
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia +2
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact mode…