14 citations · 17 across the 5 of their papers we have counts for
6 papers
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…
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance
Ahmad Gazar, Majid Khadiv, Andrea Del Prete +1
Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints sa…
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…
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian +3
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO pro…
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems
Francesco Romano, Silvio Traversaro, Daniele Pucci +3
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law…
Inertial Parameter Identification Including Friction and Motor Dynamics
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore +2
Identification of inertial parameters is fundamental for the implementation of torque-based control in humanoids. At the same time, good models of friction and actuator dynamics ar…