Control of contact interactions for robots acting in the world

Pubblicazioni

Conference proceedings (24)

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

Autori: Avadesh Meduri, Majid Khadiv, Ludovic Righetti
Pubblicato in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Editore: IEEE

Leveraging Forward Model Prediction Error for Learning Control

Autori: Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti
Pubblicato in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Editore: IEEE

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

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

Meta-learning via learned loss

Autori: Sarah Bechtle, Artem Molchanov, Yevgen Chebotar, Edward Grefenstette, Ludovic Righetti, Gaurav Sukhatme, Franziska Meier
Pubblicato in: 25th International Conference on Pattern Recognition, 2021
Editore: N/A

Learning a Centroidal Motion Planner for Legged Locomotion

Autori: Julian Viereck and Ludovic Righetti
Pubblicato in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Editore: IEEE

High-Frequency Nonlinear Model Predictive Control of a Manipulator

Autori: Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, and Ludovic Righetti
Pubblicato in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Editore: IEEE

Unsupervised Contact Learning for Humanoid Estimation and Control

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

On Time Optimization of Centroidal Momentum Dynamics

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

An MPC Walking Framework with External Contact Forces

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

Pattern Generation for Walking on Slippery Terrains

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

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

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

Step timing adjustment: A step toward generating robust gaits

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

Balancing and walking using full dynamics LQR control with contact constraints

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

Structured contact force optimization for kino-dynamic motion generation

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

Trajectory generation for multi-contact momentum control

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

Inertial sensor-based humanoid joint state estimation

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

Humanoid momentum estimation using sensed contact wrenches

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

Stepping stabilization using a combination of DCM tracking and step adjustment

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

Learning Task-Specific Dynamics to Improve Whole-Body Control

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

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

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

Learning to Explore in Motion and Interaction Tasks

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

Curious iLQR: Resolving Uncertainty in Model-based RL

Autori: Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier
Pubblicato in: Conference on Robot Learning (CoRL), 2019
Editore: N/A

Leveraging Contact Forces for Learning to Grasp

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

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction

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

Peer reviewed articles (9)

Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control

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

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

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

Learning Variable Impedance Control for Contact Sensitive Tasks

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

Learning a Structured Neural Network Policy for a Hopping Task

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

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking

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

Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

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

Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control

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

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

Autori: 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
Pubblicato in: IEEE Robotics and Automation Letters, 5/2, 2020, Page(s) 3650-3657, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2976639

Walking Control Based on Step Timing Adaptation

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

Book chapters (3)

Whole-Body Manipulation

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

Momentum-Centered Control of Contact Interactions

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

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

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