22 citations · 126 across the 31 of their papers we have counts for
3 papers · 1 filter
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt +7
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently…
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…
Comparing Alternate Modes of Teleoperation for Constrained Tasks
Christopher E. Mower, Wolfgang Merkt, Aled Davies +1
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices.…