4 papers
Bridging Reinforcement Learning and Optimal Control via Feasible Action Mapping
Stefan Richter, Alberto Giammarino, Guillem Torrente +2
Operating constrained dynamical systems requires controllers to efficiently solve complex tasks while enforcing recursive feasibility and physical constraints. To address these com…
Ace! Motion Planning of Professional-Level Table Tennis Serves with a Robot Arm
Guillem Torrente, Guilherme Jorge Maeda, Divij Grover +3
Table tennis, a dynamic, compact, and popular sport, has received significant attention as a robotics benchmark over the last decades. Most of the research has focused on the rally…
Hardware Design for Table Tennis Robot Capable of Beating Professional Players
Nobuhiko Mukai, Pavel Adodin, Stefan Heusser +6
This paper focuses on the hardware specifications required for a table tennis robot to beat professional players. After analyzing the motions of elite players, we defined target sp…
Data-Driven MPC for Quadrotors
Guillem Torrente, Elia Kaufmann, Philipp Foehn +1
Aerodynamic forces render accurate high-speed trajectory tracking with quadrotors extremely challenging. These complex aerodynamic effects become a significant disturbance at high…