Control of contact interactions for robots acting in the world

Project Information

CONT-ACT

Grant agreement ID: 637935

DOI 10.3030/637935

Project closed

EC signature date 26 February 2015

Start date 1 June 2015

End date 30 November 2020

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 1 495 500,00

EU contribution € 1 495 500,00

Coordinated by

MAX-PLANCK-GESELLSCHAFT ZUR FORDERUNG DER WISSENSCHAFTEN EV
Germany

Publications

Conference proceedings (24)

DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain

Author(s): Avadesh Meduri, Majid Khadiv, Ludovic Righetti
Published in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

Leveraging Forward Model Prediction Error for Learning Control

Author(s): Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti
Published in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

Author(s): Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 2536-2542, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196673

Meta-learning via learned loss

Author(s): Sarah Bechtle, Artem Molchanov, Yevgen Chebotar, Edward Grefenstette, Ludovic Righetti, Gaurav Sukhatme, Franziska Meier
Published in: 25th International Conference on Pattern Recognition, 2021
Publisher: N/A

Learning a Centroidal Motion Planner for Legged Locomotion

Author(s): Julian Viereck and Ludovic Righetti
Published in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

High-Frequency Nonlinear Model Predictive Control of a Manipulator

Author(s): Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, and Ludovic Righetti
Published in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

Unsupervised Contact Learning for Humanoid Estimation and Control

Author(s): Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 411-417, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8462864

On Time Optimization of Centroidal Momentum Dynamics

Author(s): Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 5776-5782, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8460537

An MPC Walking Framework with External Contact Forces

Author(s): Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1785-1790, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8461236

Pattern Generation for Walking on Slippery Terrains

Author(s): Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righeni
Published in: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), 2017, Page(s) 120-125, ISBN 978-1-5386-5703-4
Publisher: IEEE
DOI: 10.1109/icrom.2017.8466188

A convex model of humanoid momentum dynamics for multi-contact motion generation

Author(s): Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti
Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 842-849, ISBN 978-1-5090-4718-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2016.7803371

Step timing adjustment: A step toward generating robust gaits

Author(s): Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, Ludovic Righetti
Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 35-42, ISBN 978-1-5090-4718-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2016.7803251

Balancing and walking using full dynamics LQR control with contact constraints

Author(s): Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 63-68, ISBN 978-1-5090-4718-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2016.7803255

Structured contact force optimization for kino-dynamic motion generation

Author(s): Alexander Herzog, Stefan Schaal, Ludovic Righetti
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 2703-2710, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759420

Trajectory generation for multi-contact momentum control

Author(s): Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 874-880, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363464

Inertial sensor-based humanoid joint state estimation

Author(s): Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 1825-1831, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487328

Humanoid momentum estimation using sensed contact wrenches

Author(s): Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 556-563, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363417

Stepping stabilization using a combination of DCM tracking and step adjustment

Author(s): Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali. A. Moosavian, Stefan Schaal, Ludovic Righetti
Published in: 2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016, Page(s) 130-135, ISBN 978-1-5090-3222-8
Publisher: IEEE
DOI: 10.1109/icrom.2016.7886834

Learning Task-Specific Dynamics to Improve Whole-Body Control

Author(s): Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Rigbetti
Published in: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 280-283, ISBN 978-1-5386-7283-9
Publisher: IEEE
DOI: 10.1109/humanoids.2018.8624970

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning *

Author(s): Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
Published in: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Page(s) 170-177, ISBN 978-1-5386-7630-1
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035003

Learning to Explore in Motion and Interaction Tasks

Author(s): Miroslav Bogdanovic, Ludovic Righetti
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 2686-2692, ISBN 978-1-7281-4004-9
Publisher: IEEE
DOI: 10.1109/iros40897.2019.8968584

Curious iLQR: Resolving Uncertainty in Model-based RL

Author(s): Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier
Published in: Conference on Robot Learning (CoRL), 2019
Publisher: N/A

Leveraging Contact Forces for Learning to Grasp

Author(s): Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 3615-3621, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793733

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction

Author(s): Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 5280-5286, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8794032

Peer reviewed articles (9)

Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control

Author(s): Bilal Hammoud, Majid Khadiv, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 4766-4773, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068951

Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics

Author(s): Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
Published in: IEEE Transactions on Robotics, 2021, Page(s) 1-19, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.3048125

Learning Variable Impedance Control for Contact Sensitive Tasks

Author(s): Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6129-6136, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3011379

Learning a Structured Neural Network Policy for a Hopping Task

Author(s): Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 4092-4099, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2861466

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking

Author(s): John R. Rebula, Stefan Schaal, James Finley, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 4531-4538, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2933766

Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

Author(s): Thomas Flayols, Andrea Del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti
Published in: Applied Sciences, Issue 11/1, 2021, Page(s) 353, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11010353

Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control

Author(s): Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, 2021, Page(s) 1-1, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061381

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

Author(s): Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wuthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Sprowitz, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 3650-3657, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2976639

Walking Control Based on Step Timing Adaptation

Author(s): Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, Ludovic Righetti
Published in: IEEE Transactions on Robotics, Issue 36/3, 2020, Page(s) 629-643, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.2982584

Book chapters (3)

Whole-Body Manipulation

Author(s): Olivier Stasse, Ludovic Righetti
Published in: Encyclopedia of Robotics, 2020, Page(s) 1-9, ISBN 978-3-642-41610-1
Publisher: Springer Berlin Heidelberg
DOI: 10.1007/978-3-642-41610-1_187-1

Momentum-Centered Control of Contact Interactions

Author(s): Ludovic Righetti, Alexander Herzog
Published in: Geometric and Numerical Foundations of Movements, 2017, Page(s) 339-359, ISBN 978-3-319-51546-5
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-51547-2_14

On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions

Author(s): Brahayam Pontón, Stefan Schaal, Ludovic Righetti
Published in: Algorithmic Foundations of Robotics XII - Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, Issue 13, 2020, Page(s) 784-799, ISBN 978-3-030-43088-7
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-43089-4_50