64 citations · 72 across the 5 of their papers we have counts for
6 papers
Motion Accuracy and Computational Effort in QP-based Robot Control
Sélim Chefchaouni, Mehdi Benallegue, Adrien Escande +1
Quadratic Programs (QPs) have become a mature technology for the control of robots of all kinds, including humanoid robots. One aspect has been largely overlooked, however, which i…
The hierarchical Newton's method for numerically stable prioritized dynamic control
Kai Pfeiffer, Adrien Escande, Pierre Gergondet +1
This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical…
Optimization-Based Control for Dynamic Legged Robots
Patrick M. Wensing, Michael Posa, Yue Hu +3
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. Th…
Quotient-Space Motion Planning
Andreas Orthey, Adrien Escande, Eiichi Yoshida
A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to…
Capturability-based Pattern Generation for Walking with Variable Height
Stéphane Caron, Adrien Escande, Leonardo Lanari +1
Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. We generalize this analysis to the variable-h…
Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds
Silvio Traversaro, Stanislas Brossette, Adrien Escande +1
This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed co…