142 citations · 519 across the 33 of their papers we have counts for
9 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…
Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement
Walter Goodwin, Sagar Vaze, Ioannis Havoutis +1
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-l…
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…
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization
Oliwier Melon, Romeo Orsolino, David Surovik +3
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and…
Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery
Chia-Man Hung, Li Sun, Yizhe Wu +2
End-to-end visuomotor control is emerging as a compelling solution for robot manipulation tasks. However, imitation learning-based visuomotor control approaches tend to suffer from…
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…