39 citations · 44 across the 17 of their papers we have counts for
30 papers · 1 filter
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…
MPC with Sensor-Based Online Cost Adaptation
Avadesh Meduri, Huaijiang Zhu, Armand Jordana +1
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which i…
ValueNetQP: Learned one-step optimal control for legged locomotion
Julian Viereck, Avadesh Meduri, Ludovic Righetti
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real ti…
A unified framework for walking and running of bipedal robots
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti +1
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) hei…
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
Paarth Shah, Avadesh Meduri, Wolfgang Merkt +3
In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal d…
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking
John R. Rebula, Stefan Schaal, James Finley +1
Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior whic…