39 citations · 44 across the 17 of their papers we have counts for
8 papers · 1 filter
iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations
Bilal Hammoud, Armand Jordana, Ludovic Righetti
This work addresses the problem of risk-sensitive control for nonlinear systems with imperfect state observations, extending results for the linear case. In particular, we derive a…
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…
IPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control
Kai Pfeiffer, Ludovic Righetti
Linear Model Predictive Control (MPC) is a widely used method to control systems with linear dynamics. Efficient interior-point methods have been proposed which leverage the block…
Slow-fast dynamics of strongly coupled adaptive frequency oscillators
Ludovic Righetti, Jonas Buchli, Auke J. Ijspeert
Oscillators have two main limitations: their synchronization properties are limited (i.e they have a finite synchronization region) and they have no memory of past interactions (i.…
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…
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting
Armand Jordana, Justin Carpentier, Ludovic Righetti
Modeling dynamical systems plays a crucial role in capturing and understanding complex physical phenomena. When physical models are not sufficiently accurate or hardly describable…