193 citations · 195 across the 2 of their papers we have counts for
2 papers
math.OC2021★ 2 cited
IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs
Kai Pfeiffer, Adrien Escande, Ludovic Righetti
Hierarchical least-squares programs with linear constraints (HLSP) are a type of optimization problem very common in robotics. Each priority level contains an objective in least-sq…
cs.RO2019★ 193 cited
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Felix Grimminger, Avadesh Meduri, Majid Khadiv +10
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor…