87 citations · 214 across the 14 of their papers we have counts for
17 papers
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols +3
Deep Reinforcement Learning (RL) has demonstrated impressive results in solving complex robotic tasks such as quadruped locomotion. Yet, current solvers fail to produce efficient p…
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt +6
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several…
Optimization-Based Control for Dynamic Legged Robots
Patrick M. Wensing, Michael Posa, Yue Hu +3
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. Th…
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach
Wilson Jallet, Antoine Bambade, Nicolas Mansard +1
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a s…
Torque Controlled Locomotion of a Biped Robot with Link Flexibility
Nahuel A Villa, Pierre Fernbach, Maximilien Naveau +4
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can…
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond
Wilson Jallet, Antoine Bambade, Nicolas Mansard +1
Mathematical optimization is the workhorse behind several aspects of modern robotics and control. In these applications, the focus is on constrained optimization, and the ability t…
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos
Zongmian Li, Jiri Sedlar, Justin Carpentier +3
In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of…
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization (Extended Version)
Daeun Song, Pierre Fernbach, Thomas Flayols +4
One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placi…
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…
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach +2
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a vers…
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
Steve Tonneau, Daeun Song, Pierre Fernbach +3
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variabl…
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…
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli +1
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with th…
Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video
Zongmian Li, Jiri Sedlar, Justin Carpentier +3
In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of…
Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control
Mathieu Geisert, Nicolas Mansard
The recent works on quadrotor have focused on more and more challenging tasks on increasingly complex systems. Systems are often augmented with slung loads, inverted pendulums or a…
Partial Force Control of Constrained Floating-Base Robots
Andrea Del Prete, Nicolas Mansard, Francesco Nori +2
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motio…
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation
Cyril Roussillon, Aurelien Gonzalez, Joan Solà +4
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an origin…