28 citations · 57 across the 28 of their papers we have counts for
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cs.RO2022★ 3 cited
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…
cs.RO2022
Task-Driven Hybrid Model Reduction for Dexterous Manipulation
Wanxin Jin, Michael Posa
In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing…
cs.RO2022
Integrable Whole-body Orientation Coordinates for Legged Robots
Yu-Ming Chen, Gabriel Nelson, Robert Griffin +2
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation}…