4 papers
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…
FRASA: An End-to-End Reinforcement Learning Agent for Fall Recovery and Stand Up of Humanoid Robots
Clément Gaspard, Marc Duclusaud, Grégoire Passault +2
Humanoid robotics faces significant challenges in achieving stable locomotion and recovering from falls in dynamic environments. Traditional methods, such as Model Predictive Contr…
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…
FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting
Clément Gaspard, Grégoire Passault, Mélodie Daniel +1
Designing a humanoid locomotion controller is challenging and classically split up in sub-problems. Footstep planning is one of those, where the sequence of footsteps is defined. E…