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Memory of Motion

Deliverables

Low-level torque and compliant control

The report will be submitted in an international conference.

State estimation

The report will describe state esimtation with multi-sensor contact and will be submitted to an international conference.

Specifications and prototype of data exchanges

Early prototype to test the bidirectional exchange of data and models between WP2 and WP1/WP3.

Feedback control in sensor space

Report on the performance of feedback control in sensor space using learned local linear models

Whole-body balance and tooling benchmarks

Report and companion video displaying the resulting demonstrator.

Management handbook

The handbook describes the project organization, the communication procedures, the structure of deliverables and the corresponding quality procedures, the financial management.

Specifications and prototype for dense vision

This will serve as a preliminary step for D5.4.

Demonstrators and benchmarking criteria

The report will be circulated among the partners and used as guide for demonstrators implementation.

Optimal control with warm start features

Open source software implementing state-feedback MPC.

Exoskeleton gait dataset

Dataset upon which the adaptation algorithms of T3.5 are developed and validated.

Fast optimal control resolution

Open source software implementing an efficient optimal-control solver tailored to the project robots.

Preliminary Locomotion Dataset

Dataset of state-control trajectories of PAL Pyr`ene performing multi-contact locomotion.

Data management plan

Report on how research data is handled during the project and preserved after its end.

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Publications

Sparsity-Inducing Optimal Control via Differential Dynamic Programming

Author(s): Dinev, Traiko; Merkt, Wolfgang; Ivan, Vladimir; Havoutis, Ioannis; Vijayakumar, Sethu
Published in: IEEE ICRA, Issue 1, 2020

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

Author(s): Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
Published in: IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2020

Modelling and Control of a Hybrid Wheeled Jumping Robot

Author(s): Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Published in: Proceedings of the 2020 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2020

Comparison of predictive controllers for locomotion and balance recovery of quadruped robots

Author(s): Corbères, Thomas; Flayols, Thomas; Léziart, Pierre-Alexandre; Budhiraja, Rohan; Mansard, Nicolas
Published in: Subm to IEEE ICRA, Issue 1, 2020

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Author(s): Songyan Xin, Sethu Vijayakumar
Published in: Proceedings of the 2020 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2020

Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers

Author(s): Mederic Fourmy, Dinesh Atchuthan, Nicolas Mansard, Joan Sola, Thomas Flayols
Published in: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Page(s) 237-243
DOI: 10.1109/humanoids43949.2019.9035005

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain

Author(s): Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taix, Andrea Del Prete
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 6604-6610
DOI: 10.1109/icra40945.2020.9197371

Real-Time Motion Planning in Changing Environments Using Topology-Based Encoding of Past Knowledge

Author(s): Richard Fisher, Benjamin Rosman, Vladimir Ivan
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6512-6517
DOI: 10.1109/iros.2018.8593879

Crocoddyl: Fast computation, Efficient solvers, Receding horizon and Learning

Author(s): Nicolas Mansard
Published in: JNRR (French Days for Robotics), 2020

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

Author(s): Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael Mistry
Published in: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), 2020, Page(s) 1415-1420
DOI: 10.1109/case48305.2020.9216813

Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12

Author(s): Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères
Published in: IEEE ICRA, 2021

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
DOI: 10.1109/humanoids43949.2019.9035003

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
DOI: 10.1109/icra.2019.8793733

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
DOI: 10.1109/humanoids.2018.8624970

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
DOI: 10.1109/iros40897.2019.8968584

A hybrid collision model for safety collision control

Author(s): Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard
Published in: IEEE ICRA, 2021

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

Author(s): Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
Published in: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 1-9
DOI: 10.1109/humanoids.2018.8624925

Online Optimal Impedance Planning for Legged Robots

Author(s): Franco Angelini, Guiyang Xin, Wouter J. Wolfslag, Carlo Tiseo, Michael Mistry, Manolo Garabini, Antonio Bicchi, Sethu Vijayakumar
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 6028-6035
DOI: 10.1109/iros40897.2019.8967696

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
DOI: 10.1109/icra40945.2020.9196673

Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments

Author(s): Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 7248-7255
DOI: 10.1109/iros40897.2019.8967641

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Author(s): Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taïx, Nicolas Mansard
Published in: IEEE ICRA, 2021

Contact forces pre-integration for the whole body estimation of legged robots

Author(s): Mederic Fourmy, Thomas Flayols, Nicolas Mansard, Joan Solà
Published in: IEEE ICRA, 2021

Automatic Gait Pattern Selection for Legged Robots

Author(s): Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar
Published in: IEEE International Conference on Intelligent Robots and Systems 2020, 2020

Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller

Author(s): N. Mansard, A. DelPrete, M. Geisert, S. Tonneau, O. Stasse
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 2986-2993
DOI: 10.1109/ICRA.2018.8463154

Learning Whole-body Motor Skills for Humanoids

Author(s): Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Sethu Vijayakumar, Taku Komura, Zhibin Li
Published in: Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), 2018

Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments

Author(s): Henrique Ferrolho, Wolfgang Merkt, Yiming Yang, Vladimir Ivan, Sethu Vijayakumar
Published in: Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), 2018

Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints

Author(s): Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Published in: Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), 2018

Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments

Author(s): Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar
Published in: Proc. IEEE International Conf. on Intelligent Robots (IROS 2018), 2018

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

Author(s): Rohan Budhiraja, Justin Carpentier, Carlos Mastalli and Nicolas Mansard
Published in: 2018 International Conference on Humanoid Robots, 2018

The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives

Author(s): Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse and Nicolas Mansard
Published in: IEEE/SICE International Symposium on System Integrations (SII 2019), 2019

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
DOI: 10.1109/ICRA.2018.8461236

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) 1-7
DOI: 10.1109/ICRA.2018.8460537

Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet

Author(s): Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà
Published in: European Control Conference (ECC 2018), 2018

Analytical Derivatives of Rigid Body Dynamics Algorithms

Author(s): Justin Carpentier, Nicolas Mansard
Published in: Robotics: Science and Systems (RSS 2018), 2018

Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots

Author(s): Rohan Budhiraja, Justin Carpentier, Nicolas Mansard
Published in: IEEE International Conference on Robotics and Automation 2019, 2019

Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner

Author(s): Geisert, Mathieu; Yates, Thomas; Orgen, Asil; Fernbach, Pierre; Havoutis, Ioannis
Published in: Towards Autonomous Robotic Systems Conference (TAROS) 2019, Jul 2019, London, United Kingdom, Issue 20, 2019

Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution

Author(s): João Moura, Vladimir Ivan, Mustapha Suphi Erden, Sethu Vijayakumar
Published in: Robotics: Science and Systems Proceedings, Issue XV, 2019, Page(s) 1-10, ISSN 2330-765X
DOI: 10.15607/rss.2019.xv.036

Comparing Alternate Modes of Teleoperation for Constrained Tasks

Author(s): Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar
Published in: 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019, Page(s) 1497-1504
DOI: 10.1109/coase.2019.8843265

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
DOI: 10.1109/icra.2019.8794032

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

Author(s): Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 1357-1363, ISSN 978-1-7281-7395-
DOI: 10.1109/icra40945.2020.9196727

Squash-Box Feasibility Driven Differential Dynamic Programming

Author(s): Josep Marti-Saumell, Joan Solà, Carlos Mastalli, Angel Santamaria-Navarro
Published in: IEEE International Conference on Intelligent Robots and Systems 2020, 2020

High-Frequency Nonlinear Model Predictive Control of a Manipulator

Author(s): Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti
Published in: IEEE ICRA, 2021

Generative Adversarial Training of Product of Policies for Robust and Adaptive Movement Primitives

Author(s): Emmanuel Pignat, Hakan Girgin, Sylvain Calinon
Published in: Proc. Conference on Robot Learning (CoRL), 2020

Curious iLQR: Resolving Uncertainty in Model-based RL

Author(s): Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier
Published in: Proceedings of the Conference on Robot Learning, Issue 100, 2020, Page(s) 162-171

Learning to steer a locomotion contact planner

Author(s): Jason Chemin, Pierre Fernbach, Daeun Song, Nicolas Mansard, Steve Tonneau
Published in: IEEE ICRA, 2021

Variational Inference with Mixture Model Approximation for Applications in Robotics

Author(s): Emmanuel Pignat, Teguh Lembono, Sylvain Calinon
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 3395-3401
DOI: 10.1109/icra40945.2020.9197166

Computational design of energy-efficient legged robots: Optimizing for size and actuators

Author(s): Gabriele Fadini, Thomas Flayols, Andrea del Prete, Nicolas Mansard, Philippe Souères
Published in: IEEE ICRA, 2021

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
DOI: 10.3390/app11010353

C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios

Author(s): Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taix
Published in: IEEE Transactions on Robotics, Issue 36/3, 2020, Page(s) 676-691, ISSN 1552-3098
DOI: 10.1109/tro.2020.2964787

SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints

Author(s): Teguh Santoso Lembono, Francisco Suarez-Ruiz, Quang-Cuong Pham
Published in: IEEE Transactions on Automation Science and Engineering, Issue 16/4, 2019, Page(s) 1971-1979, ISSN 1545-5955
DOI: 10.1109/tase.2019.2918141

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
DOI: 10.1109/lra.2020.2976639

Memory of Motion for Warm-Starting Trajectory Optimization

Author(s): Teguh Santoso Lembono, Antonio Paolillo, Emmanuel Pignat, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2594-2601, ISSN 2377-3766
DOI: 10.1109/lra.2020.2972893

A Survey on Policy Search Algorithms for Learning Robot Controllers in a Handful of Trials

Author(s): Konstantinos Chatzilygeroudis, Vassilis Vassiliades, Freek Stulp, Sylvain Calinon, Jean-Baptiste Mouret
Published in: IEEE Transactions on Robotics, Issue 36/2, 2020, Page(s) 328-347, ISSN 1552-3098
DOI: 10.1109/tro.2019.2958211

Bayesian Gaussian Mixture Model for Robotic Policy Imitation

Author(s): Emmanuel Pignat, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 4452-4458, ISSN 2377-3766
DOI: 10.1109/lra.2019.2932610

Gaussians on Riemannian Manifolds: Applications for Robot Learning and Adaptive Control

Author(s): Sylvain Calinon
Published in: IEEE Robotics & Automation Magazine, Issue 27/2, 2020, Page(s) 33-45, ISSN 1070-9932
DOI: 10.1109/mra.2020.2980548

Effectively Quantifying the Performance of Lower-Limb Exoskeletons Over a Range of Walking Conditions

Author(s): Daniel F. N. Gordon, Graham Henderson, Sethu Vijayakumar
Published in: Frontiers in Robotics and AI, Issue 5, 2018, ISSN 2296-9144
DOI: 10.3389/frobt.2018.00061

Constraint-aware learning of policies by demonstration

Author(s): Leopoldo Armesto, João Moura, Vladimir Ivan, Mustafa Suphi Erden, Antonio Sala, Sethu Vijayakumar
Published in: The International Journal of Robotics Research, 2018, Page(s) 027836491878435, ISSN 0278-3649
DOI: 10.1177/0278364918784354

Learning Task Priorities From Demonstrations

Author(s): Joao Silverio, Sylvain Calinon, Leonel Rozo, Darwin G. Caldwell
Published in: IEEE Transactions on Robotics, 2018, Page(s) 1-17, ISSN 1552-3098
DOI: 10.1109/TRO.2018.2878355

A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control

Author(s): Fanny Ficuciello, Pietro Falco, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2608-2615, ISSN 2377-3766
DOI: 10.1109/LRA.2018.2818933

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
DOI: 10.1109/LRA.2018.2861466

2PAC

Author(s): Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard
Published in: ACM Transactions on Graphics, Issue 37/5, 2018, Page(s) 1-14, ISSN 0730-0301
DOI: 10.1145/3213773

Multicontact Locomotion of Legged Robots

Author(s): Justin Carpentier, Nicolas Mansard
Published in: IEEE Transactions on Robotics, Issue 34/6, 2018, Page(s) 1441-1460, ISSN 1552-3098
DOI: 10.1109/TRO.2018.2862902

Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain

Author(s): Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
Published in: IEEE Robotics and Automation Letters, 2019, Page(s) 1-1, ISSN 2377-3766
DOI: 10.1109/lra.2019.2908502

Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots

Author(s): Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 3363-3370, ISSN 2377-3766
DOI: 10.1109/lra.2018.2836441

Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control

Author(s): Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Published in: IEEE Transactions on Robotics, Issue 36/6, 2020, Page(s) 1635-1648, ISSN 1552-3098
DOI: 10.1109/tro.2020.3003464

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
DOI: 10.1109/tro.2020.2982584

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
DOI: 10.1109/lra.2019.2933766

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
DOI: 10.1109/lra.2020.3011379

Mixture Models for the Analysis, Edition, and Synthesis of Continuous Time Series

Author(s): Sylvain Calinon
Published in: Mixture Models and Applications, 2020, Page(s) 39-57
DOI: 10.1007/978-3-030-23876-6_3

Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

Author(s): Focchi, Michele and Orsolino, Romeo G and Camurri, Marco and Barasuol, Victor and Mastalli, Carlos and Caldwell, Darwin and Semini, Claudio
Published in: Springer Track in Advanced Robotics series, 2018, 2018