193 citations · 217 across the 4 of their papers we have counts for
5 papers
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…
On the Use of Torque Measurement in Centroidal State Estimation
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella +4
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint…
TriFinger: An Open-Source Robot for Learning Dexterity
Manuel Wüthrich, Felix Widmaier, Felix Grimminger +12
Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost…
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Felix Grimminger, Avadesh Meduri, Majid Khadiv +10
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor…
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…