2 citations · 2 across the 3 of their papers we have counts for
3 papers
URDF+: An Enhanced URDF for Robots with Kinematic Loops
Matthew Chignoli, Jean-Jacques Slotine, Patrick M. Wensing +1
Designs incorporating kinematic loops are becoming increasingly prevalent in the robotics community. Despite the existence of dynamics algorithms to deal with the effects of such l…
Probabilistic Homotopy Optimization for Dynamic Motion Planning
Shayan Pardis, Matthew Chignoli, Sangbae Kim
We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation me…
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control
AJ Miller, Shamel Fahmi, Matthew Chignoli +1
We propose MIMOC: Motion Imitation from Model-Based Optimal Control. MIMOC is a Reinforcement Learning (RL) controller that learns agile locomotion by imitating reference trajector…