22 citations · 143 across the 29 of their papers we have counts for
8 papers · 1 filter
What Robot do I Need? Fast Co-Adaptation of Morphology and Control using Graph Neural Networks
Kevin Sebastian Luck, Roberto Calandra, Michael Mistry
The co-adaptation of robot morphology and behaviour becomes increasingly important with the advent of fast 3D-manufacturing methods and efficient deep reinforcement learning algori…
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
Ke Wang, Guiyang Xin, Songyan Xin +3
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by propo…
Optimal Control via Combined Inference and Numerical Optimization
Daniel Layeghi, Steve Tonneau, Michael Mistry
Derivative based optimization methods are efficient at solving optimal control problems near local optima. However, their ability to converge halts when derivative information vani…
Fine Manipulation and Dynamic Interaction in Haptic Teleoperation
Carlo Tiseo, Quentin Rouxel, Zhibin Li +1
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental chall…
Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation
Carlo Tiseo, Quentin Rouxel, Zhibin Li +1
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human moveme…
Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators
Carlo Tiseo, Sydney Rebecca Charitos, Michael Mistry
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpred…