269 citations · 569 across the 8 of their papers we have counts for
3 papers · 1 filter
An MPC Walking Framework With External Contact Forces
Sean Mason, Nicholas Rotella, Stefan Schaal +1
In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and t…
Unsupervised Contact Learning for Humanoid Estimation and Control
Nicholas Rotella, Stefan Schaal, Ludovic Righetti
This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for trai…
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints
Sean Mason, Nicholas Rotella, Stefan Schaal +1
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algori…