22 citations · 126 across the 31 of their papers we have counts for
6 papers · 1 filter
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert +5
Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecti…
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack…
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
Paarth Shah, Avadesh Meduri, Wolfgang Merkt +3
In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal d…
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati +4
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their propr…
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-fr…
CPG-ACTOR: Reinforcement Learning for Central Pattern Generators
Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini +2
Central Pattern Generators (CPGs) have several properties desirable for locomotion: they generate smooth trajectories, are robust to perturbations and are simple to implement. Alth…