2 citations · 2 across the 1 of their papers we have counts for
4 papers
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control
Elham Daneshmand, Majid Khadiv, Felix Grimminger +1
In this paper, we present a novel two-level variable Horizon Model Predictive Control (VH-MPC) framework for bipedal locomotion. In this framework, the higher level computes the la…
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…