4 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…
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…