22 citations · 143 across the 29 of their papers we have counts for
33 papers
Neural Lyapunov and Optimal Control
Daniel Layeghi, Steve Tonneau, Michael Mistry
Despite impressive results, reinforcement learning (RL) suffers from slow convergence and requires a large variety of tuning strategies. In this paper, we investigate the ability o…
Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion
D. Belter, J. Bednarek, H. -C. Lin +2
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local…
Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
Carlo Tiseo, Quentin Rouxel, Martin Asenov +4
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the pa…
Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control
Ruoshi Wen, Quentin Rouxel, Michael Mistry +2
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bim…
Efficient Learning of Inverse Dynamics Models for Adaptive Computed Torque Control
David Jorge, Gabriella Pizzuto, Michael Mistry
Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics model…
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin +4
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-t…