16 citations · 49 across the 8 of their papers we have counts for
8 papers
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
John Z. Zhang, Maks Sorokin, Jan Brüdigam +14
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by perfor…
Wallbounce : Push wall to navigate with Contact-Implicit MPC
Xiaohan Liu, Cunxi Dai, John Z. Zhang +3
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning m…
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates
Jan Brüdigam, Stefan Sosnowski, Zachary Manchester +1
Multibody dynamics simulators are an important tool in many fields, including learning and control for robotics. However, many existing dynamics simulators suffer from inaccuracies…
Linear-Quadratic Optimal Control in Maximal Coordinates
Jan Brüdigam, Zachary Manchester
The linear-quadratic regulator (LQR) is an efficient control method for linear and linearized systems. Typically, LQR is implemented in minimal coordinates (also called generalized…
Linear-Time Variational Integrators in Maximal Coordinates
Jan Brüdigam, Zachary Manchester
Most dynamic simulation tools parameterize the configuration of multi-body robotic systems using minimal coordinates, also called generalized or joint coordinates. However, maximal…
Bilevel Optimization for Planning through Contact: A Semidirect Method
Benoit Landry, Joseph Lorenzetti, Zachary Manchester +1
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been…
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Benoit Landry, Zachary Manchester, Marco Pavone
Many problems in modern robotics can be addressed by modeling them as bilevel optimization problems. In this work, we leverage augmented Lagrangian methods and recent advances in a…
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg +3
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions…