22 citations · 126 across the 31 of their papers we have counts for
11 papers · 1 filter
Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan +2
Optimal control is a popular approach to synthesize highly dynamic motion. Commonly, regularization is used on the control inputs in order to minimize energy used and to ensu…
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt +3
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and…
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…
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev +2
Shooting methods are an efficient approach to solving nonlinear optimal control problems. As they use local optimization, they exhibit favorable convergence when initialized with a…
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…
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
We present a novel framework for motion planning in dynamic environments that accounts for the predicted trajectories of moving objects in the scene. We explore the use of composit…
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati +3
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, whi…
Modeling and Control of a Hybrid Wheeled Jumping Robot
Traiko Dinev, Songyan Xin, Wolfgang Merkt +2
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright…
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…
Learning Whole-body Motor Skills for Humanoids
Chuanyu Yang, Kai Yuan, Wolfgang Merkt +3
This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, fo…
Safe and Compliant Control of Redundant Robots Using Superimposition of Passive Task-Space Controllers
Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag +2
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic m…