115 citations · 169 across the 3 of their papers we have counts for
4 papers · 1 filter
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…
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…
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Markus Giftthaler, Michael Neunert, Markus Stäuble +3
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradi…