193 citations · 386 across the 51 of their papers we have counts for
4 papers · 1 filter
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…
Learning Variable Impedance Control for Contact Sensitive Tasks
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robo…
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian +3
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO pro…
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning
Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian +2
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO pro…