284 citations · 748 across the 9 of their papers we have counts for
10 papers
Learning and Sequencing of Object-Centric Manipulation Skills for Industrial Tasks
Leonel Rozo, Meng Guo, Andras G. Kupcsik +8
Enabling robots to quickly learn manipulation skills is an important, yet challenging problem. Such manipulation skills should be flexible, e.g., be able adapt to the current works…
A Projection Approach to Equality Constrained Iterative Linear Quadratic Optimal Control
Markus Giftthaler, Jonas Buchli
This paper presents a state and state-input constrained variant of the discrete-time iterative Linear Quadratic Regulator (iLQR) algorithm, with linear time-complexity in the numbe…
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Markus Giftthaler, Michael Neunert, Markus Stäuble +1
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is appli…
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control
Markus Giftthaler, Michael Neunert, Markus Stäuble +2
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple-shooting varia…
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
Michael Neunert, Markus Stäuble, Markus Giftthaler +5
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes…
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
Farbod Farshidian, Edo Jelavić, Asutosh Satapathy +2
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorit…