269 citations · 706 across the 7 of their papers we have counts for
7 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…
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
Chenhao Li, Marin Vlastelica, Sebastian Blaes +3
Learning agile skills is one of the main challenges in robotics. To this end, reinforcement learning approaches have achieved impressive results. These methods require explicit tas…
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…
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid
Alexander Herzog, Nicholas Rotella, Sean Mason +3
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowl…
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics
Alexander Herzog, Ludovic Righetti, Felix Grimminger +2
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have importa…