19 citations · 19 across the 3 of their papers we have counts for
3 papers
Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots
Mohamed Djeha, Pierre Gergondet, Abderrahmane Kheddar
Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or v…
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…
mc-mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo
Rohan P. Singh, Pierre Gergondet, Fumio Kanehiro
For safe and reliable deployment of any robot controller on the real hardware platform, it is generally a necessary practice to comprehensively assess the performance of the contro…