193 citations · 386 across the 51 of their papers we have counts for
8 papers · 1 filter
Physically-Consistent Parameter Identification of Robots in Contact
Shahram Khorshidi, Murad Dawood, Benno Nederkorn +2
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial…
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv +4
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combin…
Contact-conditioned learning of multi-gait locomotion policies
Michal Ciebielski, Federico Burgio, Majid Khadiv
In this paper, we examine the effects of goal representation on the performance and generalization in multi-gait policy learning settings for legged robots. To study this problem i…
Safe Learning of Locomotion Skills from MPC
Xun Pua, Majid Khadiv
Safe learning of locomotion skills is still an open problem. Indeed, the intrinsically unstable nature of the open-loop dynamics of locomotion systems renders naive learning from s…
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…
Trajectory Optimization under Contact Timing Uncertainties
Haizhou Zhao, Majid Khadiv
Most interesting problems in robotics (e.g., locomotion and manipulation) are realized through intermittent contact with the environment. Due to the perception and modeling errors,…
Learning-based legged locomotion; state of the art and future perspectives
Sehoon Ha, Joonho Lee, Michiel van de Panne +3
Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advan…
Diffusion-based learning of contact plans for agile locomotion
Victor Dhédin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana +5
Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones…