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