56 citations · 111 across the 25 of their papers we have counts for
4 papers · 2 filters
CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality
Gianluigi Grandesso, Elisa Alboni, Gastone P. Rosati Papini +2
This paper presents a novel algorithm for the continuous control of dynamical systems that combines Trajectory Optimization (TO) and Reinforcement Learning (RL) in a single framewo…
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
Michele Focchi, Mohamed Bensaadallah, Marco Frego +4
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We pres…
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete +2
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap…
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…