3 papers
cs.RO2025
Multi-critic Learning for Whole-body End-effector Twist Tracking
Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione +2
Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically…
cs.RO2017
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
Michael Neunert, Markus Stäuble, Markus Giftthaler +5
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes…
cs.RO2016
A Primer on the Differential Calculus of 3D Orientations
Michael Bloesch, Hannes Sommer, Tristan Laidlow +8
The proper handling of 3D orientations is a central element in many optimization problems in engineering. Unfortunately many researchers and engineers struggle with the formulation…