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09/20/2023
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set
In recent years, advanced model-based and data-driven control methods ar...
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09/13/2023
Efficient Reinforcement Learning for Jumping Monopods
In this work, we consider the complex control problem of making a monopo...
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09/08/2023
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
Trajectory optimization under uncertainties is a challenging problem for...
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05/12/2023
Reactive Landing Controller for Quadruped Robots
Quadruped robots are machines intended for challenging and harsh environ...
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05/12/2023
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control
Safety is often the most important requirement in robotics applications....
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11/12/2022
CACTO: Continuous Actor-Critic with Trajectory Optimization – Towards global optimality
This paper presents a novel algorithm for the continuous control of dyna...
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09/20/2022
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
Rescue missions in mountain environments are hardly achievable by standa...
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08/25/2022
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
For legged robots, aerial motions are the only option to overpass obstac...
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05/26/2022
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
Generation of robust trajectories for legged robots remains a challengin...
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01/18/2021
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts
The simulation of multi-body systems with frictional contacts is a funda...
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11/19/2020
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization
One challenge of legged locomotion on uneven terrains is to deal with bo...
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10/09/2020
Robust walking based on MPC with viability-based feasibility guarantees
Model predictive control (MPC) has shown great success for controlling c...
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05/15/2020
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance
Linear Model Predictive Control (MPC) has been successfully used for gen...
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09/19/2019
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
One of the main challenges of planning legged locomotion in complex envi...
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07/10/2019