116 citations · 1.1k across the 36 of their papers we have counts for
9 papers · 1 filter
Adaptive CLF-MPC With Application To Quadrupedal Robots
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian +1
Modern robotic systems are endowed with superior mobility and mechanical skills that make them suited to be employed in real-world scenarios, where interactions with heavy objects…
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh +2
Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the under…
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots
Edo Jelavic, Farbod Farshidian, Marco Hutter
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling pre…
Imitation Learning from MPC for Quadrupedal Multi-Gait Control
Alexander Reske, Jan Carius, Yuntao Ma +2
We present a learning algorithm for training a single policy that imitates multiple gaits of a walking robot. To achieve this, we use and extend MPC-Net, which is an Imitation Lear…
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes
Magnus Gaertner, Marko Bjelonic, Farbod Farshidian +1
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constra…
Learning a State Representation and Navigation in Cluttered and Dynamic Environments
David Hoeller, Lorenz Wellhausen, Farbod Farshidian +1
In this work, we present a learning-based pipeline to realise local navigation with a quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high-leve…
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
Mayank Mittal, David Hoeller, Farbod Farshidian +2
A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments…
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti +1
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We m…
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
The Sequential Linear Quadratic (SLQ) algorithm is a continuous-time variant of the well-known Differential Dynamic Programming (DDP) technique with a Gauss-Newton Hessian approxim…