116 citations · 1.1k across the 36 of their papers we have counts for
3 papers · 1 filter
DTC: Deep Tracking Control
Fabian Jenelten, Junzhe He, Farbod Farshidian +1
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled usin…
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate c…
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators
Yuntao Ma, Farbod Farshidian, Marco Hutter
Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall…