11 citations · 11 across the 1 of their papers we have counts for
3 papers
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan +2
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward…
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots
Wouter Wolfslag, Christopher McGreavy, Guiyang Xin +3
Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we st…
RRT-CoLearn: towards kinodynamic planning without numerical trajectory optimization
Wouter Wolfslag, Mukunda Bharatheesha, Thomas Moerland +1
Sampling-based kinodynamic planners, such as Rapidly-exploring Random Trees (RRTs), pose two fundamental challenges: computing a reliable (pseudo-)metric for the distance between t…