284 citations · 1.2k across the 27 of their papers we have counts for
4 papers · 2 filters
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…
ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization
Timothy Sandy, Lukas Stadelmann, Simon Kerscher +1
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sen…
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…
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Markus Giftthaler, Michael Neunert, Markus Stäuble +1
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is appli…