2 citations · 2 across the 7 of their papers we have counts for
17 papers · 1 filter
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…
A unified framework for walking and running of bipedal robots
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti +1
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) hei…
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
Paarth Shah, Avadesh Meduri, Wolfgang Merkt +3
In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal d…
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control
Bilal Hammoud, Majid Khadiv, Ludovic Righetti
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance…
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Avadesh Meduri, Majid Khadiv, Ludovic Righetti
Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In th…
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
Brahayam Ponton, Majid Khadiv, Avadesh Meduri +1
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be…