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08/24/2020
Learning and Sequencing of Object-Centric Manipulation Skills for Industrial Tasks
Enabling robots to quickly learn manipulation skills is an important, ye...
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05/23/2018
A Projection Approach to Equality Constrained Iterative Linear Quadratic Optimal Control
This paper presents a state and state-input constrained variant of the d...
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01/12/2018
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
We introduce the Control Toolbox (CT), an open-source C++ library for ef...
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12/07/2017
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
In this work we present a whole-body Nonlinear Model Predictive Control ...
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11/29/2017
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control
This paper introduces a family of iterative algorithms for unconstrained...
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10/11/2017