87 citations · 214 across the 14 of their papers we have counts for
4 papers · 1 filter
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…