4 papers · 1 filter
Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization
Xiaoyu Zhang, Steven Haener, Varun Madabushi +1
We present the KinoDynamic Motion Retargeting (KDMR) framework, a novel approach for humanoid locomotion that models the retargeting process as a multi-contact, whole-body trajecto…
NaviGait: Navigating Dynamically Feasible Gait Libraries using Deep Reinforcement Learning
Neil Janwani, Varun Madabushi, Maegan Tucker
Reinforcement learning (RL) has emerged as a powerful method to learn robust control policies for bipedal locomotion. Yet, it can be difficult to tune desired robot behaviors due t…
Dense Fixed-Wing Swarming using Receding-Horizon NMPC
Varun Madabushi, Yocheved Kopel, Adam Polevoy +1
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinea…
Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs
Varun Madabushi, Katie M. Popek, Craig Knuth +2
In this work, we investigate the use of co-design methods to iterate upon robot designs in the field, performing time sensitive, ad-hoc tasks. Our method optimizes the morphology a…