53 citations · 60 across the 9 of their papers we have counts for
3 papers · 1 filter
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…
Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots
Charles Khazoom, Seungwoo Hong, Matthew Chignoli +2
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. Howev…