1 citations · 2 across the 8 of their papers we have counts for
4 papers · 2 filters
Very High Frequency Interpolation for Direct Torque Control
Rafael Kourdis, Maciej Stępień, Jérôme Manhes +4
Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body l…
First Order Model-Based RL through Decoupled Backpropagation
Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane +2
There is growing interest in reinforcement learning (RL) methods that leverage the simulator's derivatives to improve learning efficiency. While early gradient-based approaches hav…
Extended URDF: Accounting for parallel mechanism in robot description
Virgile Batto, Ludovic de Matteis, Nicolas Mansard
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter l…
Control of Humanoid Robots with Parallel Mechanisms using Differential Actuation Models
Victor Lutz, Ludovic de Matteis, Virgile Batto +1
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce l…