116 citations · 1.1k across the 36 of their papers we have counts for
7 papers · 1 filter
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
Abel Gawel, Hermann Blum, Johannes Pankert +9
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction s…
Deep Value Model Predictive Control
Farbod Farshidian, David Hoeller, Marco Hutter
In this paper, we introduce an actor-critic algorithm called Deep Value Model Predictive Control (DMPC), which combines model-based trajectory optimization with value function esti…
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning
Vassilios Tsounis, Mitja Alge, Joonho Lee +2
This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to…
MPC-Net: A First Principles Guided Policy Search
Jan Carius, Farbod Farshidian, Marco Hutter
We present an Imitation Learning approach for the control of dynamical systems with a known model. Our policy search method is guided by solutions from MPC. Typical policy search m…
Feedback MPC for Torque-Controlled Legged Robots
Ruben Grandia, Farbod Farshidian, René Ranftl +1
The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynami…
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Tim Seyde, Jan Carius, Ruben Grandia +2
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a su…
Whole-Body MPC for a Dynamically Stable Mobile Manipulator
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia +1
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body o…