143 citations · 378 across the 39 of their papers we have counts for
7 papers · 2 filters
Optimization-Based Control for Dynamic Legged Robots
Patrick M. Wensing, Michael Posa, Yue Hu +3
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. Th…
CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality
Gianluigi Grandesso, Elisa Alboni, Gastone P. Rosati Papini +2
This paper presents a novel algorithm for the continuous control of dynamical systems that combines Trajectory Optimization (TO) and Reinforcement Learning (RL) in a single framewo…
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
He Li, Tingnan Zhang, Wenhao Yu +1
Specialized motions such as jumping are often achieved on quadruped robots by solving a trajectory optimization problem once and executing the trajectory using a tracking controlle…
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
He Li, Tingnan Zhang, Wenhao Yu +1
Reinforcement Learning (RL) has witnessed great strides for quadruped locomotion, with continued progress in the reliable sim-to-real transfer of policies. However, it remains a ch…
Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Optimization-based robot control strategies often rely on first-order dynamics approximation methods, as in iLQR. Using second-order approximations of the dynamics is expensive due…
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
The details of second-order partial derivatives of rigid-body Inverse/Forward dynamics are provided. Several properties and identities using Spatial Vector Algebra are listed, alon…