6 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…
A Propagation Perspective on Recursive Forward Dynamics for Systems with Kinematic Loops
Matthew Chignoli, Nicholas Adrian, Sangbae Kim +1
We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider…
Learning Quadruped Locomotion Using Differentiable Simulation
Yunlong Song, Sangbae Kim, Davide Scaramuzza
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by co…
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…
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…
Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
Ho Jae Lee, Seungwoo Hong, Sangbae Kim
In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the L…