57 citations · 76 across the 6 of their papers we have counts for
6 papers
Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles using Static Objects Information
Brahayam Ponton, Magda Ferri, Lars Koenig +1
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. T…
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
Brahayam Ponton, Majid Khadiv, Avadesh Meduri +1
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be…
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction
Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti +1
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynami…
On Time Optimization of Centroidal Momentum Dynamics
Brahayam Ponton, Alexander Herzog, Andrea Del Prete +2
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. Howev…
A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation
Brahayam Ponton, Alexander Herzog, Stefan Schaal +1
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, b…
On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions
Brahayam Ponton, Stefan Schaal, Ludovic Righetti
Stochastic Optimal Control (SOC) typically considers noise only in the process model, i.e. unknown disturbances. However, in many robotic applications involving interaction with th…