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Memory of Motion

Livrables

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.

Hierarchy optimal control & shared autonomy

Publication submitted to peerreview journal

Rehabilitation exoskeleton showcase

Report showcases results with video and demonstrator with paraplegic patient

Multicontact manipulation benchmarks

Report and companion video of the final demonstrator Live demonstration at final review meeting

Memory of motion report : final version

Models for movement encoding and synthesis with a rich set of representation spaces in realistic setting including whole body motion subspaces and hierarchies

Feedback control in sensor space

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

Gaited locomotion benchmarks

Report and companion video displaying the resulting demonstrator

Specifications of the three demonstrators

Description of the 3 final setups main respective contributions of AIRBUS WAN and UEDIN

Civil engineering demonstrator

Report results of field testing of quadruped in field location specified by COSTAIN

MPC in sensor space

Open source implementation of the MPC algorithm in sensor space and scientific report on experimental results using this algorithm

Aerospace manufacturing showcase

Report showcases results with video and demonstrator in Hangar D41

Dense perception

The report will be submitted in an international journal

Memory of motion report : intermediary version

Models for movement encoding and synthesis with reduced set of representation spaces in lab setting

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.

Report on Trajectory Generation

Description of the motion planner T11T12 together with their opensource implementations

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.

Final Trajectory Datasets

Refined version of the trajectory datasets for the targeted three applications and four 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.

Web site of the project
Industrial workshops

Organization of a workshop to gather direct feedbacks from the enduser board

Learning predictive models in sensor space

Open source software providing tools to learn predictive models in sensor space and to compute reduced generalized models using sensory features

Publications

Sparsity-Inducing Optimal Control via Differential Dynamic Programming

Auteurs: Dinev, Traiko; Merkt, Wolfgang; Ivan, Vladimir; Havoutis, Ioannis; Vijayakumar, Sethu
Publié dans: IEEE ICRA, Issue 1, 2020
Éditeur: --

Online Trajectory Planning Through Combined Trajectory Optimization and Function Approximation: Application to the Exoskeleton Atalante

Auteurs: Alexis Duburcq, Yann Chevaleyre, Nicolas Bredeche, Guilhem Boéris
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2020, ISBN 978-1-7281-7395-5
Éditeur: IEEE
DOI: 10.1109/icra40945.2020.9196633

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance

Auteurs: Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Publié dans: 2021 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2021
Éditeur: IEEE
DOI: 10.1109/humanoids47582.2021.9555783

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

Auteurs: Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
Publié dans: IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2020
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)

Trajectory Prediction with Compressed 3D Environment Representation using Tensor Train Decomposition

Auteurs: Brudermüller, L., Lembono, T.S., Shetty, S. and Calinon, S.
Publié dans: IEEE Intl Conf. on Advanced Robotics (ICAR), 2021
Éditeur: IEEE

Modelling and Control of a Hybrid Wheeled Jumping Robot

Auteurs: Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Publié dans: Proceedings of the 2020 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2020
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)

Estimation of Multiple Flexibilities of an Articulated System Using Inertial Measurements

Auteurs: Matthieu Vigne, Antonio El Khoury, Matthieu Masselin, Florent Di Meglio, Nicolas Petit
Publié dans: IEEE Conference on Decision and Control (CDC), 2018, ISBN 978-1-5386-1395-5
Éditeur: IEEE
DOI: 10.1109/cdc.2018.8619734

Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion

Auteurs: Jiayi Wang, Sanghyun Kim, Sethu Vijayakumar, Steve Tonneau
Publié dans: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, Page(s) 53-60, ISBN 978-1-7281-9372-4
Éditeur: IEEE
DOI: 10.1109/humanoids47582.2021.9555778

ICP Localization and Walking Experiments on a TALOS Humanoid Robot

Auteurs: Thibaud Lasguignes, Isabelle Maroger, Maurice Fallon, Milad Ramezani, Luca Marchionni, Olivier Stasse, Nicolas Mansard, Bruno Watier
Publié dans: IEEE ICAR, 2021, ISBN 978-1-6654-3684-7
Éditeur: IEEE
DOI: 10.1109/icar53236.2021.9659474

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Auteurs: Julian Eber; Shivesh Kumar; Heiner Peters; Vinzenz Bargsten; José de Gea Fernández; Carlos Mastalli; Olivier Stasse; Frank Kirchner
Publié dans: IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2021
Éditeur: IEEE
DOI: 10.1109/humanoids47582.2021.9555770

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

Auteurs: Corbères, Thomas; Flayols, Thomas; Léziart, Pierre-Alexandre; Budhiraja, Rohan; Mansard, Nicolas
Publié dans: Subm to IEEE ICRA, Issue 1, 2020
Éditeur: --

Rapid Stability Margin Estimation for Contact-Rich Locomotion

Auteurs: Romeo Orsolino, Siddhant Gangapurwala, Oliwier Aleksander Melon, Mathieu Geisert, Ioannis Havoutis and Maurice Fallon
Publié dans: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, ISBN 978-1-6654-1714-3
Éditeur: IEEE
DOI: 10.1109/iros51168.2021.9636474

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

Auteurs: Avadesh Meduri, Majid Khadiv, Ludovic Righetti
Publié dans: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9562093

A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots

Auteurs: Carlo Tiseo; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Michael Mistry; Sethu Vijayakumar
Publié dans: ICRA, Issue 9, 2021, Page(s) 8223-8229, ISBN 978-1-7281-9077-8
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561377

Probabilistic Iterative LQR for Short Time Horizon MPC

Auteurs: Lembono, Teguh Santoso; Calinon, Sylvain
Publié dans: Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), 2021, Page(s) 556-562
Éditeur: IEEE
DOI: 10.1109/iros51168.2021.9636295

Proximal and Sparse Resolution of Constrained Dynamic Equations

Auteurs: Justin Carpentier; Rohan Budhiraja; Nicolas Mansard
Publié dans: Robotics: Science and Systems, 2021, ISBN 978-0-9923747-8-5
Éditeur: RSS
DOI: 10.15607/rss.2021.xvii.017

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

Auteurs: Henrique Ferrolho, Wolfgang Merkt, Yiming Yang, Vladimir Ivan, Sethu Vijayakumar
Publié dans: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018
Éditeur: IEEE
DOI: 10.1109/humanoids.2018.8625026

A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots

Auteurs: Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael Mistry, and Sethu Vijayakumar
Publié dans: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9077-8
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561377

iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems withImperfect Observation

Auteurs: Bilal Hammoud, Armand Jordana, Ludovic Righetti
Publié dans: American Control Conference, 2022
Éditeur: IEEE

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Auteurs: Songyan Xin, Sethu Vijayakumar
Publié dans: Proceedings of the 2020 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2020
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)

Learning a Centroidal Motion Planner for Legged Locomotion

Auteurs: Julian Viereck, Ludovic Righetti
Publié dans: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9562022

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

Auteurs: Mederic Fourmy, Dinesh Atchuthan, Nicolas Mansard, Joan Sola, Thomas Flayols
Publié dans: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Page(s) 237-243, ISBN 978-1-5386-7630-1
Éditeur: IEEE
DOI: 10.1109/humanoids43949.2019.9035005

Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments

Auteurs: Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Publié dans: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, ISBN 978-1-6654-1714-3
Éditeur: IEEE
DOI: 10.1109/iros51168.2021.9636860

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

Auteurs: Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taix, Andrea Del Prete
Publié dans: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 6604-6610, ISBN 978-1-7281-7395-5
Éditeur: IEEE
DOI: 10.1109/icra40945.2020.9197371

Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments

Auteurs: Mark Finean, Wolfgang Merkt Oxford Robotics Institute, University of Oxford Ioannis Havoutis
Publié dans: Proceedings of the International Conference on Automated Planning and Scheduling, Issue 21 1, 2021, Page(s) 616-624
Éditeur: Association for the Advancement of Artificial Intelligence
DOI: 10.48550/arxiv.2008.00969

Optimization of Robot Configurations for Motion Planning in Industrial Riveting

Auteurs: Girgin, H., Lembono, T.S., Cirligeanu, R. and Calinon, S.
Publié dans: IEEE Intl Conf. on Advanced Robotics (ICAR), 2021
Éditeur: IEEE

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

Auteurs: Richard Fisher, Benjamin Rosman, Vladimir Ivan
Publié dans: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6512-6517, ISBN 978-1-5386-8094-0
Éditeur: IEEE
DOI: 10.1109/iros.2018.8593879

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

Auteurs: Nicolas Mansard
Publié dans: JNRR (French Days for Robotics), 2020
Éditeur: --

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

Auteurs: Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael Mistry
Publié dans: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), 2020, Page(s) 1415-1420, ISBN 978-1-7281-6904-0
Éditeur: IEEE
DOI: 10.1109/case48305.2020.9216813

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

Auteurs: Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères
Publié dans: IEEE ICRA, 2021
Éditeur: IEEE

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion

Auteurs: Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2022
Éditeur: IEEE
DOI: 10.48550/arxiv.2112.04809

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

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

Leveraging Contact Forces for Learning to Grasp

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

Learning Task-Specific Dynamics to Improve Whole-Body Control

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

Learning Whole-body Motor Skills for Humanoids

Auteurs: Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li
Publié dans: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018
Éditeur: IEEE

Learning to Explore in Motion and Interaction Tasks

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

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning

Auteurs: Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon and Ioannis Havoutis
Publié dans: 2021 IEEE International Conference on Robotics and Automation (ICRA), Issue May 2021, 2021, ISBN 978-1-7281-9077-8
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561639

Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video

Auteurs: Zongmian Li; Jiri Sedlar; Justin Carpentier; Ivan Laptev; Nicolas Mansard; Josef Sivic
Publié dans: "IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019), Jun 2019, Long Beach, United States. pp.8632-8641, ⟨10.1109/CVPR.2019.00884⟩", Issue 5, 2019
Éditeur: IEEE
DOI: 10.1109/cvpr.2019.00884

Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem

Auteurs: Steve Tonneau
Publié dans: Proceedings of the International Conference on Robotics and Automation (ICRA 2022), 2022
Éditeur: IEEE

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization

Auteurs: Henrique Ferrolho; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Sethu Vijayakumar
Publié dans: 2021 IEEE International Conference on Robotics and Automation, Issue 3, 2021, Page(s) 12752-12758, ISSN 1050-4729
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561306

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

Auteurs: Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà
Publié dans: IEEE Humanoids, 2018, ISBN 978-3-9524-2698-2
Éditeur: IEEE
DOI: 10.23919/ecc.2018.8550094

A hybrid collision model for safety collision control

Auteurs: Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard
Publié dans: IEEE ICRA, 2021
Éditeur: IEEE

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

Auteurs: Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
Publié dans: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 1-9, ISBN 978-1-5386-7283-9
Éditeur: IEEE
DOI: 10.1109/humanoids.2018.8624925

Online Optimal Impedance Planning for Legged Robots

Auteurs: Franco Angelini, Guiyang Xin, Wouter J. Wolfslag, Carlo Tiseo, Michael Mistry, Manolo Garabini, Antonio Bicchi, Sethu Vijayakumar
Publié dans: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 6028-6035, ISBN 978-1-7281-4004-9
Éditeur: IEEE
DOI: 10.1109/iros40897.2019.8967696

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

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

A memory of motion for visual predictive control tasks

Auteurs: Antonio Paolillo, Teguh Santoso Lembono, Sylvain Calinon
Publié dans: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 9014-9020
Éditeur: IEEE
DOI: 10.1109/icra40945.2020.9197216

Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments

Auteurs: Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Publié dans: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 7248-7255, ISBN 978-1-7281-4004-9
Éditeur: IEEE
DOI: 10.1109/iros40897.2019.8967641

Reliable Trajectories for Dynamic Quadrupedsusing Analytical Costs and Learned Initializations

Auteurs: Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice Fallon
Publié dans: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, ISBN 978-1-7281-7396-2
Éditeur: IEEE
DOI: 10.1109/icra40945.2020.9196562

A unified framework for walking and running of bipedal robots

Auteurs: Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv
Publié dans: 2021 20th International Conference on Advanced Robotics (ICAR), 2021
Éditeur: IEEE
DOI: 10.1109/icar53236.2021.9659392

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

Auteurs: Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taïx, Nicolas Mansard
Publié dans: IEEE ICRA, 2021
Éditeur: IEEE

Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization

Auteurs: Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice Fallon
Publié dans: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9077-8
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9560794

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

Auteurs: Mederic Fourmy, Thomas Flayols, Nicolas Mansard, Joan Solà
Publié dans: IEEE ICRA, 2021
Éditeur: IEEE

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

Auteurs: Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Publié dans: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018
Éditeur: IEEE
DOI: 10.1109/humanoids.2018.8624989

Automatic Gait Pattern Selection for Legged Robots

Auteurs: Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar
Publié dans: IEEE International Conference on Intelligent Robots and Systems 2020, 2020
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)

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

Auteurs: N. Mansard, A. DelPrete, M. Geisert, S. Tonneau, O. Stasse
Publié dans: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 2986-2993, ISBN 978-1-5386-3081-5
Éditeur: IEEE
DOI: 10.1109/ICRA.2018.8463154

Learning Whole-body Motor Skills for Humanoids

Auteurs: Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Sethu Vijayakumar, Taku Komura, Zhibin Li
Publié dans: Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), 2018
Éditeur: IEEE

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

Auteurs: Henrique Ferrolho, Wolfgang Merkt, Yiming Yang, Vladimir Ivan, Sethu Vijayakumar
Publié dans: Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), 2018
Éditeur: IEEE

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

Auteurs: Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Publié dans: Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), 2018
Éditeur: IEEE

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

Auteurs: Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar
Publié dans: Proc. IEEE International Conf. on Intelligent Robots (IROS 2018), 2018
Éditeur: IEEE

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

Auteurs: Rohan Budhiraja, Justin Carpentier, Carlos Mastalli and Nicolas Mansard
Publié dans: 2018 International Conference on Humanoid Robots, 2018
Éditeur: IEEE-RAS

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

Auteurs: Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse and Nicolas Mansard
Publié dans: IEEE/SICE International Symposium on System Integrations (SII 2019), 2019
Éditeur: IEEE/SICE

An MPC Walking Framework with External Contact Forces

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

On Time Optimization of Centroidal Momentum Dynamics

Auteurs: Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
Publié dans: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1-7, ISBN 978-1-5386-3081-5
Éditeur: IEEE
DOI: 10.1109/ICRA.2018.8460537

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

Auteurs: Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà
Publié dans: European Control Conference (ECC 2018), 2018
Éditeur: ECC

Analytical Derivatives of Rigid Body Dynamics Algorithms

Auteurs: Justin Carpentier, Nicolas Mansard
Publié dans: Robotics: Science and Systems (RSS 2018), 2018
Éditeur: RSS

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

Auteurs: Rohan Budhiraja, Justin Carpentier, Nicolas Mansard
Publié dans: IEEE International Conference on Robotics and Automation 2019, 2019
Éditeur: IEEE

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

Auteurs: Geisert, Mathieu; Yates, Thomas; Orgen, Asil; Fernbach, Pierre; Havoutis, Ioannis
Publié dans: Towards Autonomous Robotic Systems Conference (TAROS) 2019, Jul 2019, London, United Kingdom, Issue 20, 2019
Éditeur: TAROS

Meta-learning via learned loss

Auteurs: Sarah Bechtle, Artem Molchanov, Yevgen Chebotar, Edward Grefenstette, Ludovic Righetti, Gaurav Sukhatme, Franziska Meier
Publié dans: 25th International Conference on Pattern Recognition, 2021
Éditeur: IEEE
DOI: 10.1109/icpr48806.2021.9412010

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

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

Comparing Alternate Modes of Teleoperation for Constrained Tasks

Auteurs: Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar
Publié dans: 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019, Page(s) 1497-1504, ISBN 978-1-7281-0356-3
Éditeur: IEEE
DOI: 10.1109/coase.2019.8843265

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction

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

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

Auteurs: Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Publié dans: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/iros.2018.8593977

Automatic Gait Pattern Selection for Legged Robots

Auteurs: Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar
Publié dans: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, ISBN 978-1-7281-6212-6
Éditeur: IEEE
DOI: 10.1109/iros45743.2020.9340789

Leveraging Forward Model Prediction Error for Learning Control

Auteurs: Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti
Publié dans: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561396

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

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

Squash-Box Feasibility Driven Differential Dynamic Programming

Auteurs: Josep Marti-Saumell, Joan Solà, Carlos Mastalli, Angel Santamaria-Navarro
Publié dans: IEEE International Conference on Intelligent Robots and Systems 2020, 2020
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)

High-Frequency Nonlinear Model Predictive Control of a Manipulator

Auteurs: Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti
Publié dans: IEEE ICRA, 2021
Éditeur: IEEE

Preintegrated Velocity Bias Estimation to OvercomeContact Nonlinearities in Legged Robot Odometry

Auteurs: David Wisth, Marco Camurri, Maurice Fallon
Publié dans: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-7396-2
Éditeur: IEEE
DOI: 10.1109/icra40945.2020.9197214

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent

Auteurs: Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Publié dans: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Éditeur: IEEE
DOI: 10.1109/iros51168.2021.9635856

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

Auteurs: Emmanuel Pignat, Hakan Girgin, Sylvain Calinon
Publié dans: Proc. Conference on Robot Learning (CoRL), 2020
Éditeur: PMLR

Curious iLQR: Resolving Uncertainty in Model-based RL

Auteurs: Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier
Publié dans: Proceedings of the Conference on Robot Learning, Issue 100, 2020, Page(s) 162-171
Éditeur: Proceedings of Machine Learning Research

Learning to steer a locomotion contact planner

Auteurs: Jason Chemin, Pierre Fernbach, Daeun Song, Nicolas Mansard, Steve Tonneau
Publié dans: IEEE ICRA, 2021
Éditeur: IEEE

Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure

Auteurs: Milad Ramezani, Georgi Tinchev, Egor Iuganov and Maurice Fallon
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2022, ISBN 978-1-7281-7395-5
Éditeur: IEEE
DOI: 10.1109/icra40945.2020.9196769

Variational Inference with Mixture Model Approximation for Applications in Robotics

Auteurs: Emmanuel Pignat, Teguh Lembono, Sylvain Calinon
Publié dans: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 3395-3401, ISBN 978-1-7281-7395-5
Éditeur: IEEE
DOI: 10.1109/icra40945.2020.9197166

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

Auteurs: Gabriele Fadini, Thomas Flayols, Andrea del Prete, Nicolas Mansard, Philippe Souères
Publié dans: IEEE ICRA, 2021
Éditeur: IEEE

Residual force polytope: Admissible task-space forces of dynamic trajectories

Auteurs: Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar
Publié dans: Robotics and Autonomous Systems, Issue 103814, 2021, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2021.103814

Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics

Auteurs: Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
Publié dans: IEEE Transactions on Robotics, Issue 37 (5), 2021, ISSN 1941-0468
Éditeur: IEEE
DOI: 10.1109/tro.2020.3048125

Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network

Auteurs: Teguh S. Lembono, Emmanuel Pignat, Julius Jankowski, Sylvain Calinon
Publié dans: IEEE Robotics and Automation Letters (RA-L), Issue 23773766, 2021, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3068671

Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

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

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

Auteurs: Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taix
Publié dans: IEEE Transactions on Robotics, Issue 36/3, 2020, Page(s) 676-691, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.2964787

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

Auteurs: Teguh Santoso Lembono, Francisco Suarez-Ruiz, Quang-Cuong Pham
Publié dans: IEEE Transactions on Automation Science and Engineering, Issue 16/4, 2019, Page(s) 1971-1979, ISSN 1545-5955
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2019.2918141

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

Auteurs: 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
Publié dans: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 3650-3657, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2020.2976639

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

Auteurs: Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon and Ioannis Havoutis
Publié dans: IEEE Transactions on Robotics, 2022, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3172469

Memory of Motion for Warm-Starting Trajectory Optimization

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

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

Auteurs: Konstantinos Chatzilygeroudis, Vassilis Vassiliades, Freek Stulp, Sylvain Calinon, Jean-Baptiste Mouret
Publié dans: IEEE Transactions on Robotics, Issue 36/2, 2020, Page(s) 328-347, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2019.2958211

Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control

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

Robust walking based on MPC with viability-based feasibility guarantees

Auteurs: Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
Publié dans: IEEE Transactions on Robotics, 2021, ISSN 1941-0468
Éditeur: IEEE
DOI: 10.1109/tro.2021.3127388

SKD: Keypoint Detection for Point Clouds using Saliency Estimation

Auteurs: Georgi Tinchev; Adrian Penate-Sanchez; Maurice Fallon
Publié dans: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3065224

Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control

Auteurs: Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti
Publié dans: IEEE Robotics and Automation Letters, Issue 6(2), 2021, Page(s) 2349-2356, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3061381

Bayesian Gaussian Mixture Model for Robotic Policy Imitation

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

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Auteurs: Pignat, Emmanuel; Silvério, João; Calinon, Sylvain
Publié dans: International Journal of Robotics Research (IJRR), Issue 3, 2022, ISSN 0278-3649
Éditeur: SAGE Publications
DOI: 10.1177/02783649211040561

Exponential Integration for Efficient and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts

Auteurs: Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete
Publié dans: Multibody System Dynamics, Issue 54, 2022, Page(s) 443–460, ISSN 1573-272X
Éditeur: Springer
DOI: 10.1007/s11044-022-09818-z

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

Auteurs: Sylvain Calinon
Publié dans: IEEE Robotics & Automation Magazine, Issue 27/2, 2020, Page(s) 33-45, ISSN 1070-9932
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2020.2980548

Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts

Auteurs: Wolfgang Merkt; Vladimir Ivan; Traiko Dinev; Ioannis Havoutis; Sethu Vijayakumar
Publié dans: Merkt , W X , Ivan , V , Dinev , T , Havoutis , I & Vijayakumar , S 2021 , ' Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts ' , IEEE Transactions on Robotics , vol. 37 , no. 5 , pp. 1649 - 1660 . https://doi.org/10.1109/TRO.2021.3069132, Issue 7, 2021, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3069132

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry

Auteurs: David Wisth, Marco Camurri, Sandipan Das, Maurice Fallon
Publié dans: IEEE Robotics and Automation Letters, Issue 2, 2021, Page(s) 1004-1011, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3056380

Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost

Auteurs: Daniel F. N. Gordon, Christopher McGreavy, Andreas Christou, Sethu Vijayakumar
Publié dans: IEEE Transactions on Robotics, Issue 3, 2022, Page(s) 1410-1429, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3133137

Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction

Auteurs: Y.C. Lin,L. Righetti and D. Bereson
Publié dans: IEEE Robotics and Automation Letters, Issue 5(2), 2020, Page(s) 2451-2458, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2020.2972825

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

Auteurs: Daniel F. N. Gordon, Graham Henderson, Sethu Vijayakumar
Publié dans: Frontiers in Robotics and AI, Issue 5, 2018, ISSN 2296-9144
Éditeur: Frontiers in Robotics & AI: Biomedical Robotics
DOI: 10.3389/frobt.2018.00061

Constraint-aware learning of policies by demonstration

Auteurs: Leopoldo Armesto, João Moura, Vladimir Ivan, Mustafa Suphi Erden, Antonio Sala, Sethu Vijayakumar
Publié dans: The International Journal of Robotics Research, 2018, Page(s) 027836491878435, ISSN 0278-3649
Éditeur: SAGE Publications
DOI: 10.1177/0278364918784354

Learning Task Priorities From Demonstrations

Auteurs: Joao Silverio, Sylvain Calinon, Leonel Rozo, Darwin G. Caldwell
Publié dans: IEEE Transactions on Robotics, 2018, Page(s) 1-17, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2878355

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

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

Learning a Structured Neural Network Policy for a Hopping Task

Auteurs: Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti
Publié dans: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 4092-4099, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2018.2861466

2PAC

Auteurs: Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard
Publié dans: ACM Transactions on Graphics, Issue 37/5, 2018, Page(s) 1-14, ISSN 0730-0301
Éditeur: Association for Computing Machinary, Inc.
DOI: 10.1145/3213773

Multicontact Locomotion of Legged Robots

Auteurs: Justin Carpentier, Nicolas Mansard
Publié dans: IEEE Transactions on Robotics, Issue 34/6, 2018, Page(s) 1441-1460, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2862902

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

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

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

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

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

Auteurs: Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Publié dans: IEEE Transactions on Robotics, Issue 36/6, 2020, Page(s) 1635-1648, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.3003464

Walking Control Based on Step Timing Adaptation

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

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking

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

Learning Variable Impedance Control for Contact Sensitive Tasks

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

Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization

Auteurs: Daeun Song; Pierre Fernbach; Thomas Flayols; Andrea Del Prete; Nicolas Mansard; Steve Tonneau; Young J. Kim
Publié dans: https://hal.laas.fr/hal-03435135, 2021, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3088797

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles

Auteurs: David Surovik, Oliwier Melon, Mathieu Geisert, Maurice Fallon, Ioannis Havoutis
Publié dans: Proceedings of Machine Learning Research, Issue 155, 2021, Page(s) 1509-1518, ISSN 2640-3498
Éditeur: Journal of Machine Learning Research

First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback

Auteurs: Ewen Dantec, Michel Taïx, Nicolas Mansard
Publié dans: IEEE RAL, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3149573

Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios

Auteurs: Marco Camurri, Milad Ramezani, Simona Nobili, and Maurice Fallon
Publié dans: Frontiers in Robotics and AI, Issue 7, 2020, ISSN 2296-9144
Éditeur: Frontiers
DOI: 10.3389/frobt.2020.00068

Agile Maneuvers in Legged Robots: a Predictive Control Approach

Auteurs: Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael Mistry, Ioannis Havoutis, Sethu Vijayakumar
Publié dans: 2022
Éditeur: arxiv

BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning

Auteurs: Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Publié dans: IEEE Transactions on Robotics (Submitted), 2022
Éditeur: IEEE
DOI: 10.48550/arxiv.2201.07601

Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties

Auteurs: Amit Parag, Sébastien Kleff, Léo Saci, Nicolas Mansard, Olivier Stasse
Publié dans: IEEE ICRA (accepted), 2022
Éditeur: IEEE

A Direct-Indirect Hybridization Approach to Control-Limited DDP

Auteurs: Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Sola, Nicolas Mansard, Sethu Vijayakumar
Publié dans: 2021
Éditeur: Arxiv

Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization

Auteurs: Bogdanovic, Miroslav; Khadiv, Majid; Righetti, Ludovic
Publié dans: Frontiers in Robotics and AI (submitted), 2022
Éditeur: Frontiers

Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach

Auteurs: Jallet, Wilson; Bambade, Antoine; Mansard, Nicolas; Carpentier, Justin
Publié dans: IEEE IROS (submitted), 2022
Éditeur: IEEE

Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers

Auteurs: Léziart, Pierre-Alexandre; Corbères, Thomas; Flayols, Thomas; Tonneau, Steve; Mansard, Nicolas; Souères, Philippe
Publié dans: IEEE RAL (submitted), 2022
Éditeur: IEEE

Implicit Differential Dynamic Programming

Auteurs: Wilson Jallet; Nicolas Mansard; Justin Carpentier
Publié dans: IEEE ICRA (accepted), 2022
Éditeur: IEEE

Introducing Force Feedback in Model Predictive Control

Auteurs: Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti
Publié dans: IEEE IROS (subm), 2022
Éditeur: IEEE

Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation

Auteurs: Armand Jordana, Bilal Hammoud, Ludovic Righetti
Publié dans: IEEE Control Systems Letters (accepted), 2022
Éditeur: IEEE

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

Auteurs: Sylvain Calinon
Publié dans: Mixture Models and Applications, 2020, Page(s) 39-57, ISBN 978-3-030-23875-9
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-23876-6_3

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

Auteurs: Focchi, Michele and Orsolino, Romeo G and Camurri, Marco and Barasuol, Victor and Mastalli, Carlos and Caldwell, Darwin and Semini, Claudio
Publié dans: Springer Track in Advanced Robotics series, 2018, 2018
Éditeur: Springer

EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control

Auteurs: Vladimir Ivan, Yiming Yang, Wolfgang Merkt, Michael P. Camilleri, Sethu Vijayakumar
Publié dans: Robot Operating System (ROS), 2019, Page(s) 211-240, ISBN 978-3-319-91590-6
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-91590-6_7

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