34 citations · 36 across the 4 of their papers we have counts for
5 papers
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal +2
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft c…
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen +3
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces genera…
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia +2
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact mode…
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti +1
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We m…
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
The Sequential Linear Quadratic (SLQ) algorithm is a continuous-time variant of the well-known Differential Dynamic Programming (DDP) technique with a Gauss-Newton Hessian approxim…