115 citations · 250 across the 7 of their papers we have counts for
7 papers · 1 filter
Value constrained model-free continuous control
Steven Bohez, Abbas Abdolmaleki, Michael Neunert +3
The naive application of Reinforcement Learning algorithms to continuous control problems -- such as locomotion and manipulation -- often results in policies which rely on high-amp…
Nonlinear disturbance attenuation control of hydraulic robotics
Peng Lu, Timothy Sandy, Jonas Buchli
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estim…
A Projection Approach to Equality Constrained Iterative Linear Quadratic Optimal Control
Markus Giftthaler, Jonas Buchli
This paper presents a state and state-input constrained variant of the discrete-time iterative Linear Quadratic Regulator (iLQR) algorithm, with linear time-complexity in the numbe…
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
Farbod Farshidian, Edo Jelavić, Asutosh Satapathy +2
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorit…
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Markus Giftthaler, Michael Neunert, Markus Stäuble +3
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradi…
Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints
Alexander W Winkler, Farbod Farshidian, Diego Pardo +2
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optim…