37 citations · 203 across the 26 of their papers we have counts for
4 papers · 1 filter
Impact-Aware Multi-Contact Balance Criteria
Yuquan Wang, Arnaud Tanguy, Abderrahmane Kheddar
Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intent…
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…
Sequential Hierarchical Least-Squares Programming for Prioritized Non-Linear Optimal Control
Kai Pfeiffer, Abderrahmane Kheddar
We present a sequential hierarchical least-squares programming solver with trust-region and hierarchical step-filter with application to prioritized discrete non-linear optimal con…