2 papers
math.OC2026
Efficient flatness-based computation of trajectories for vehicles with many trailers
Basile Graf, Gustave Lapierre, Philippe Müllhaupt
We address the practical computation of feedforward steering inputs for a car with n trailers via differential flatness. The standard route (iterated symbolic differentiation of th…
cs.RO2018
Imprecise dynamic walking with time-projection control
Salman Faraji, Philippe Muellhaupt, Auke J. Ijspeert
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Ta…