57 citations · 76 across the 6 of their papers we have counts for
Showing 2016Show all
2 papers · 1 filter
cs.RO2016★ 12 cited
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…
eess.SY2016★ 4 cited
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…