13 citations · 15 across the 5 of their papers we have counts for
5 papers
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt +2
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in…
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt +2
Benchmarks of state-of-the-art rigid-body dynamics libraries report better performance solving the inverse dynamics problem than the forward alternative. Those benchmarks encourage…
A Feasibility-Driven Approach to Control-Limited DDP
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell +4
Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization. Its efficiency derives from the exploitation of temporal structure (inherent…
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan +2
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward…
Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo +1
We propose a representation for the set of forces a robot can counteract using full system dynamics: the residual force polytope. Given the nominal torques required by a dynamic mo…