193 citations · 230 across the 5 of their papers we have counts for
6 papers
ValueNetQP: Learned one-step optimal control for legged locomotion
Julian Viereck, Avadesh Meduri, Ludovic Righetti
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real ti…
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Avadesh Meduri, Paarth Shah, Julian Viereck +3
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear MPC framework, t…
Learning a Centroidal Motion Planner for Legged Locomotion
Julian Viereck, Ludovic Righetti
Whole-body optimizers have been successful at automatically computing complex dynamic locomotion behaviors. However they are often limited to offline planning as they are computati…
TriFinger: An Open-Source Robot for Learning Dexterity
Manuel Wüthrich, Felix Widmaier, Felix Grimminger +12
Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost…
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Felix Grimminger, Avadesh Meduri, Majid Khadiv +10
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor…
Learning a Structured Neural Network Policy for a Hopping Task
Julian Viereck, Jules Kozolinsky, Alexander Herzog +1
In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact locati…