68 citations · 196 across the 49 of their papers we have counts for
6 papers · 1 filter
Computational Design of Active Kinesthetic Garments
Velko Vechev, Ronan Hinchet, Stelian Coros +2
Garments with the ability to provide kinesthetic force-feedback on-demand can augment human capabilities in a non-obtrusive way, enabling numerous applications in VR haptics, motio…
Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis
Dongho Kang, Flavio De Vincenti, Stelian Coros
We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds…
Differentiable Collision Avoidance Using Collision Primitives
Simon Zimmermann, Matthias Busenhart, Simon Huber +2
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method…
Gradient-Based Trajectory Optimization With Learned Dynamics
Bhavya Sukhija, Nathanael Köhler, Miguel Zamora +4
Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of…
Learning Solution Manifolds for Control Problems via Energy Minimization
Miguel Zamora, Roi Poranne, Stelian Coros
A variety of control tasks such as inverse kinematics (IK), trajectory optimization (TO), and model predictive control (MPC) are commonly formulated as energy minimization problems…
Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together
Jeffrey Delmerico, Roi Poranne, Federica Bogo +5
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular…