Publicaciones Conference proceedings (24) DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain Autores: Avadesh Meduri, Majid Khadiv, Ludovic Righetti Publicado en: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021 Editor: IEEE Leveraging Forward Model Prediction Error for Learning Control Autores: Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti Publicado en: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021 Editor: IEEE Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control Autores: Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard Publicado en: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 2536-2542, ISBN 978-1-7281-7395-5 Editor: IEEE DOI: 10.1109/icra40945.2020.9196673 Meta-learning via learned loss Autores: Sarah Bechtle, Artem Molchanov, Yevgen Chebotar, Edward Grefenstette, Ludovic Righetti, Gaurav Sukhatme, Franziska Meier Publicado en: 25th International Conference on Pattern Recognition, 2021 Editor: N/A Learning a Centroidal Motion Planner for Legged Locomotion Autores: Julian Viereck and Ludovic Righetti Publicado en: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021 Editor: IEEE High-Frequency Nonlinear Model Predictive Control of a Manipulator Autores: Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, and Ludovic Righetti Publicado en: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021 Editor: IEEE Unsupervised Contact Learning for Humanoid Estimation and Control Autores: Nicholas Rotella, Stefan Schaal, Ludovic Righetti Publicado en: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 411-417, ISBN 978-1-5386-3081-5 Editor: IEEE DOI: 10.1109/icra.2018.8462864 On Time Optimization of Centroidal Momentum Dynamics Autores: Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti Publicado en: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 5776-5782, ISBN 978-1-5386-3081-5 Editor: IEEE DOI: 10.1109/icra.2018.8460537 An MPC Walking Framework with External Contact Forces Autores: Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti Publicado en: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1785-1790, ISBN 978-1-5386-3081-5 Editor: IEEE DOI: 10.1109/icra.2018.8461236 Pattern Generation for Walking on Slippery Terrains Autores: Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righeni Publicado en: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), 2017, Page(s) 120-125, ISBN 978-1-5386-5703-4 Editor: IEEE DOI: 10.1109/icrom.2017.8466188 A convex model of humanoid momentum dynamics for multi-contact motion generation Autores: Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti Publicado en: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 842-849, ISBN 978-1-5090-4718-5 Editor: IEEE DOI: 10.1109/HUMANOIDS.2016.7803371 Step timing adjustment: A step toward generating robust gaits Autores: Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, Ludovic Righetti Publicado en: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 35-42, ISBN 978-1-5090-4718-5 Editor: IEEE DOI: 10.1109/HUMANOIDS.2016.7803251 Balancing and walking using full dynamics LQR control with contact constraints Autores: Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti Publicado en: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 63-68, ISBN 978-1-5090-4718-5 Editor: IEEE DOI: 10.1109/HUMANOIDS.2016.7803255 Structured contact force optimization for kino-dynamic motion generation Autores: Alexander Herzog, Stefan Schaal, Ludovic Righetti Publicado en: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 2703-2710, ISBN 978-1-5090-3762-9 Editor: IEEE DOI: 10.1109/IROS.2016.7759420 Trajectory generation for multi-contact momentum control Autores: Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti Publicado en: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 874-880, ISBN 978-1-4799-6885-5 Editor: IEEE DOI: 10.1109/HUMANOIDS.2015.7363464 Inertial sensor-based humanoid joint state estimation Autores: Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti Publicado en: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 1825-1831, ISBN 978-1-4673-8026-3 Editor: IEEE DOI: 10.1109/ICRA.2016.7487328 Humanoid momentum estimation using sensed contact wrenches Autores: Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti Publicado en: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 556-563, ISBN 978-1-4799-6885-5 Editor: IEEE DOI: 10.1109/HUMANOIDS.2015.7363417 Stepping stabilization using a combination of DCM tracking and step adjustment Autores: Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali. A. Moosavian, Stefan Schaal, Ludovic Righetti Publicado en: 2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016, Page(s) 130-135, ISBN 978-1-5090-3222-8 Editor: IEEE DOI: 10.1109/icrom.2016.7886834 Learning Task-Specific Dynamics to Improve Whole-Body Control Autores: Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Rigbetti Publicado en: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 280-283, ISBN 978-1-5386-7283-9 Editor: IEEE DOI: 10.1109/humanoids.2018.8624970 Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning * Autores: Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti Publicado en: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Page(s) 170-177, ISBN 978-1-5386-7630-1 Editor: IEEE DOI: 10.1109/humanoids43949.2019.9035003 Learning to Explore in Motion and Interaction Tasks Autores: Miroslav Bogdanovic, Ludovic Righetti Publicado en: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 2686-2692, ISBN 978-1-7281-4004-9 Editor: IEEE DOI: 10.1109/iros40897.2019.8968584 Curious iLQR: Resolving Uncertainty in Model-based RL Autores: Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier Publicado en: Conference on Robot Learning (CoRL), 2019 Editor: N/A Leveraging Contact Forces for Learning to Grasp Autores: Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg Publicado en: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 3615-3621, ISBN 978-1-5386-6027-0 Editor: IEEE DOI: 10.1109/icra.2019.8793733 Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction Autores: Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson Publicado en: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 5280-5286, ISBN 978-1-5386-6027-0 Editor: IEEE DOI: 10.1109/icra.2019.8794032 Peer reviewed articles (9) Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control Autores: Bilal Hammoud, Majid Khadiv, Ludovic Righetti Publicado en: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 4766-4773, ISSN 2377-3766 Editor: IEEE DOI: 10.1109/lra.2021.3068951 Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics Autores: Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti Publicado en: IEEE Transactions on Robotics, 2021, Page(s) 1-19, ISSN 1552-3098 Editor: Institute of Electrical and Electronics Engineers DOI: 10.1109/tro.2020.3048125 Learning Variable Impedance Control for Contact Sensitive Tasks Autores: Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti Publicado en: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6129-6136, ISSN 2377-3766 Editor: IEEE DOI: 10.1109/lra.2020.3011379 Learning a Structured Neural Network Policy for a Hopping Task Autores: Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti Publicado en: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 4092-4099, ISSN 2377-3766 Editor: IEEE DOI: 10.1109/lra.2018.2861466 A Robustness Analysis of Inverse Optimal Control of Bipedal Walking Autores: John R. Rebula, Stefan Schaal, James Finley, Ludovic Righetti Publicado en: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 4531-4538, ISSN 2377-3766 Editor: IEEE DOI: 10.1109/lra.2019.2933766 Reactive Balance Control for Legged Robots under Visco-Elastic Contacts Autores: Thomas Flayols, Andrea Del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti Publicado en: Applied Sciences, Issue 11/1, 2021, Page(s) 353, ISSN 2076-3417 Editor: MDPI DOI: 10.3390/app11010353 Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control Autores: Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti Publicado en: IEEE Robotics and Automation Letters, 2021, Page(s) 1-1, ISSN 2377-3766 Editor: IEEE DOI: 10.1109/lra.2021.3061381 An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research Autores: 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 Publicado en: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 3650-3657, ISSN 2377-3766 Editor: IEEE DOI: 10.1109/lra.2020.2976639 Walking Control Based on Step Timing Adaptation Autores: Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, Ludovic Righetti Publicado en: IEEE Transactions on Robotics, Issue 36/3, 2020, Page(s) 629-643, ISSN 1552-3098 Editor: Institute of Electrical and Electronics Engineers DOI: 10.1109/tro.2020.2982584 Book chapters (3) Whole-Body Manipulation Autores: Olivier Stasse, Ludovic Righetti Publicado en: Encyclopedia of Robotics, 2020, Page(s) 1-9, ISBN 978-3-642-41610-1 Editor: Springer Berlin Heidelberg DOI: 10.1007/978-3-642-41610-1_187-1 Momentum-Centered Control of Contact Interactions Autores: Ludovic Righetti, Alexander Herzog Publicado en: Geometric and Numerical Foundations of Movements, 2017, Page(s) 339-359, ISBN 978-3-319-51546-5 Editor: Springer International Publishing DOI: 10.1007/978-3-319-51547-2_14 On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions Autores: Brahayam Pontón, Stefan Schaal, Ludovic Righetti Publicado en: 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 Editor: Springer International Publishing DOI: 10.1007/978-3-030-43089-4_50 Buscando datos de OpenAIRE... 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