2 citations · 2 across the 7 of their papers we have counts for
7 papers
Active Interaction-Aware Model Predictive Path Integral via Ego-Conditioned Generative Predictions
Khaled A. Mustafa, Mohamed-Khalil Bouzidi, Christian Schlauch +4
Dense traffic is inherently interactive. The ego vehicle and surrounding agents continuously influence each other's reactions, making "what-if" reasoning essential for safe and eff…
Impact-Robust Posture Optimization for Aerial Manipulation
Amr Afifi, Ahmad Gazar, Javier Alonso-Mora +2
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the b…
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
Ahmad Gazar, Majid Khadiv, Andrea Del Prete +1
Trajectory optimization under uncertainties is a challenging problem for robots in contact with the environment. Such uncertainties are inevitable due to estimation errors, control…
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
Ahmad Gazar, Majid Khadiv, Sébastien Kleff +2
Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabili…
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…
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…
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback
Ahmad Gazar, Gabriele Nava, Francisco Javier Andrade Chavez +1
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP ba…