269 citations · 334 across the 5 of their papers we have counts for
5 papers
Learning Task-Specific Dynamics to Improve Whole-Body Control
Andrej Gams, Sean A. Mason, Aleš Ude +2
In task-based inverse dynamics control, reference accelerations used to follow a desired plan can be broken down into feedforward and feedback trajectories. The feedback term accou…
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…
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…
Inertial Sensor-Based Humanoid Joint State Estimation
Nicholas Rotella, Sean Mason, Stefan Schaal +1
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containi…
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid
Alexander Herzog, Nicholas Rotella, Sean Mason +3
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowl…