Constrained articulated body dynamics algorithms
Rigid-body dynamics algorithms have played an essential role in robotics development. By
finely exploiting the underlying robot structure, they allow the computation of the robot …
finely exploiting the underlying robot structure, they allow the computation of the robot …
Proxqp: an efficient and versatile quadratic programming solver for real-time robotics applications and beyond
Convex Quadratic programming (QP) has become a core component in the modern
engineering toolkit, particularly in robotics, where QP problems are legions, ranging from …
engineering toolkit, particularly in robotics, where QP problems are legions, ranging from …
Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective
Differential inverse kinematics is a core robotics problem whose state-of-the-art solutions are
currently based on quadratic programming. In this paper, we revisit it from the perspective of …
currently based on quadratic programming. In this paper, we revisit it from the perspective of …
From centroidal to whole-body models for legged locomotion: a comparative analysis
Model predictive control is one of the most common methods for stabilizing the dynamics of
a legged robot. Yet, it remains unclear which level of complexity should be considered for …
a legged robot. Yet, it remains unclear which level of complexity should be considered for …
Differentiable Frank-Wolfe Optimization Layer
Differentiable optimization has received a significant amount of attention due to its
foundational role in the domain of machine learning based on neural networks. The existing …
foundational role in the domain of machine learning based on neural networks. The existing …
[PDF][PDF] NEXT ITERATIONS OF QUADRATIC PROGRAMMING FOR ADAPTIVE AND ROBUST MOTION CONTROL
S Caron - 2023 - scaron.info
Next iterations of quadratic programming for adaptive and robust motion control Page 1 NEXT
ITERATIONS OF QUADRATIC PROGRAMMING FOR ADAPTIVE AND ROBUST MOTION …
ITERATIONS OF QUADRATIC PROGRAMMING FOR ADAPTIVE AND ROBUST MOTION …
DFWLayer: Differentiable Frank-Wolfe Optimization Layer
Differentiable optimization has received a significant amount of attention due to its
foundational role in the domain of machine learning based on neural networks. This paper …
foundational role in the domain of machine learning based on neural networks. This paper …