45 citations · 85 across the 7 of their papers we have counts for
12 papers
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono +8
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large o…
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation
Teng Xue, Hakan Girgin, Teguh Santoso Lembono +1
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncer…
Tensor Train for Global Optimization Problems in Robotics
Suhan Shetty, Teguh Lembono, Tobias Loew +1
The convergence of many numerical optimization techniques is highly dependent on the initial guess given to the solver. To address this issue, we propose a novel approach that util…
Probabilistic Iterative LQR for Short Time Horizon MPC
Teguh Santoso Lembono, Sylvain Calinon
Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on find…
Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network
Teguh Santoso Lembono, Emmanuel Pignat, Julius Jankowski +1
In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static…
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach +2
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a vers…
A memory of motion for visual predictive control tasks
Antonio Paolillo, Teguh Santoso Lembono, Sylvain Calinon
This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used…
Memory of Motion for Warm-starting Trajectory Optimization
Teguh Santoso Lembono, Antonio Paolillo, Emmanuel Pignat +1
Trajectory optimization for motion planning requires good initial guesses to obtain good performance. In our proposed approach, we build a memory of motion based on a database of r…
Variational Inference with Mixture Model Approximation: Robotic Applications
Emmanuel Pignat, Teguh Lembono, Sylvain Calinon
We propose a method to approximate the distribution of robot configurations satisfying multiple objectives. Our approach uses variational inference, a popular method in Bayesian co…
SCALAR: Simultaneous Calibration of 2D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints
Teguh Santoso Lembono, Francisco Suárez-Ruiz, Quang-Cuong Pham
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder…
SCALAR - Simultaneous Calibration of 2D Laser and Robot's Kinematic Parameters Using Three Planar Constraints
Teguh Santoso Lembono, Fransisco Suarez-Ruiz, Quang-Cuong Pham
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the meas…
RoboTSP - A Fast Solution to the Robotic Task Sequencing Problem
Francisco Suárez-Ruiz, Teguh Santoso Lembono, Quang-Cuong Pham
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time amon…