2 papers
cs.RO2025
PlaCo: a QP-based robot planning and control framework
Marc Duclusaud, Grégoire Passault, Vincent Padois +1
This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic…
cs.RO2025
Extended Friction Models for the Physics Simulation of Servo Actuators
Marc Duclusaud, Grégoire Passault, Vincent Padois +1
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advant…