4 papers
Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring
Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer +4
Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industr…
Infinite-Horizon Value Function Approximation for Model Predictive Control
Armand Jordana, Sébastien Kleff, Arthur Haffemayer +4
Model Predictive Control has emerged as a popular tool for robots to generate complex motions. However, the real-time requirement has limited the use of hard constraints and large…
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
Ahmad Gazar, Majid Khadiv, Sébastien Kleff +2
Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabili…
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment
Majid Khadiv, Sebastien Kleff, Alexander Herzog +3
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the…