45 citations · 90 across the 12 of their papers we have counts for
13 papers
Energy-Efficient Motion Planner for Legged Robots
Alexander Schperberg, Marcel Menner, Stefano Di Cairano
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of foo…
Translation of Nagumo's Foundational Work on Barrier Functions: On the Location of Integral Curves of Ordinary Differential Equations
Marcel Menner, Eugene Lavretsky
In 1942, Prof. Mitio Nagumo published his seminal paper on the location of integral curves of ordinary differential equations. Nagumo's paper provides the foundation of the set inv…
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering
Marcel Menner, Karl Berntorp
This paper proposes an algorithm for combined contact detection and state estimation for legged robots. The proposed algorithm models the robot's movement as a switched system, in…
Gaussian Processes with State-Dependent Noise for Stochastic Control
Marcel Menner, Karl Berntorp
This paper considers a stochastic control framework, in which the residual model uncertainty of the dynamical system is learned using a Gaussian Process (GP). In the proposed formu…
Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles
Sean Vaskov, Rien Quirynen, Marcel Menner +1
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller…
Real-to-Sim: Predicting Residual Errors of Robotic Systems with Sparse Data using a Learning-based Unscented Kalman Filter
Alexander Schperberg, Yusuke Tanaka, Feng Xu +2
Achieving highly accurate dynamic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regul…