36 citations · 271 across the 74 of their papers we have counts for
7 papers · 1 filter
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Christopher E. Mower, Theodoros Stouraitis, João Moura +7
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich manipulation scenarios, an active robotics re…
Differentiable Optimal Control via Differential Dynamic Programming
Traiko Dinev, Carlos Mastalli, Vladimir Ivan +2
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimiz…
Inverse-Dynamics MPC via Nullspace Resolution
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères +2
Optimal control (OC) using inverse dynamics provides numerical benefits such as coarse optimization, cheaper computation of derivatives, and a high convergence rate. However, to ta…
Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models
Christian Rauch, Ran Long, Vladimir Ivan +1
This work presents an approach for modelling and tracking previously unseen objects for robotic grasping tasks. Using the motion of objects in a scene, our approach segments rigid…
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin +4
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-t…
RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects
Ran Long, Christian Rauch, Tianwei Zhang +3
This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruct…