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09/07/2022
Real-to-Sim: Deep Learning with Auto-Tuning to Predict Residual Errors using Sparse Data
Achieving highly accurate kinematic or simulator models that are close t...
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07/16/2022
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion
Convex model predictive controls (MPCs) with a single rigid body model h...
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07/04/2022
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
While motion planning of locomotion for legged robots has shown great su...
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07/04/2022
SCALER: A Tough Versatile Quadruped Free-Climber Robot
This paper introduces SCALER, a quadrupedal robot that demonstrates clim...
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07/03/2022
Auto-Calibrating Admittance Controller for Robust Motion of Robotic Systems
We demonstrate an admittance controller with auto-tuning that can be app...
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08/03/2021
SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots
We present an end-to-end online motion planning framework that uses a da...
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07/28/2020