Skip to main content

Memory of Motion

Deliverables

Exoskeleton gait dataset

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

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.

Management handbook

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

Demonstrators and benchmarking criteria

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

Publications

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

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

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