142 citations · 814 across the 36 of their papers we have counts for
3 papers · 1 filter
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot's actuation capabilities. This means, when possible, to…
Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We belie…
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Markus Giftthaler, Michael Neunert, Markus Stäuble +3
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradi…