36 citations · 271 across the 74 of their papers we have counts for
4 papers · 2 filters
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt +7
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently…
Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo +1
We propose a representation for the set of forces a robot can counteract using full system dynamics: the residual force polytope. Given the nominal torques required by a dynamic mo…
Comparing Alternate Modes of Teleoperation for Constrained Tasks
Christopher E. Mower, Wolfgang Merkt, Aled Davies +1
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices.…
Analytic Model for Quadruped Locomotion Task-Space Planning
Carlo Tiseo, Sethu Vijayakumar, Michael Mistry
Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits fr…