7 papers
Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation
Daniel Layeghi, Thomas Corbères, Calum Arnott +4
Differentiable simulation can accelerate contact-rich trajectory optimisation by exposing local sensitivities of task outcomes to controls. Existing approaches either use finite di…
CASSR: Continuous A-Star Search through Reachability for real time footstep planning
Jiayi Wang, Steve Tonneau
Footstep planning involves a challenging combinatorial search. Traditional A* approaches require discretising reachability constraints, while Mixed-Integer Programming (MIP) suppor…
System Identification under Constraints and Disturbance: A Bayesian Estimation Approach
Sergi Martinez, Steve Tonneau, Carlos Mastalli
We introduce a Bayesian system identification (SysID) framework for jointly estimating robot's state trajectories and physical parameters with high accuracy. It embeds physically c…
Very High Frequency Interpolation for Direct Torque Control
Rafael Kourdis, Maciej StÄpieÅ, Jérôme Manhes +4
Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body l…
Scaling Whole-body Multi-contact Manipulation with Contact Optimization
Victor Levé, João Moura, Sachiya Fujita +3
Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability…
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
Victor Leve, João Moura, Namiko Saito +2
Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulatio…