3 papers
cs.RO2025
Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
Victor Dhédin, Haizhou Zhao, Majid Khadiv
Legged robots have the potential to traverse highly constrained environments with agile maneuvers. However, planning such motions requires solving a highly challenging optimization…
cs.RO2025
Task and Motion Planning for Humanoid Loco-manipulation
Michal Ciebielski, Victor Dhédin, Majid Khadiv
This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact…
cs.RO2024
Learning feasible transitions for efficient contact planning
Rikhat Akizhanov, Victor Dhédin, Majid Khadiv +1
In this paper, we propose an efficient contact planner for quadrupedal robots to navigate in extremely constrained environments such as stepping stones. The main difficulty in this…