Optimization-based control for dynamic legged robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
A review of structure-preserving numerical methods for engineering applications
Accurate numerical simulation of dynamical systems is essential in applications ranging
from particle physics to geophysical fluid flow to space hazard analysis. However, most …
from particle physics to geophysical fluid flow to space hazard analysis. However, most …
Tinympc: Model-predictive control on resource-constrained microcontrollers
Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic
systems subject to complex constraints. However, MPC is computationally demanding, and …
systems subject to complex constraints. However, MPC is computationally demanding, and …
Bundled gradients through contact via randomized smoothing
The empirical success of derivative-free methods in reinforcement learning for planning
through contact seems at odds with the perceived fragility of classical gradient-based …
through contact seems at odds with the perceived fragility of classical gradient-based …
[HTML][HTML] Multi-contact planning and control for humanoid robots: Design and validation of a complete framework
In this paper, we consider the problem of generating appropriate motions for a torque-
controlled humanoid robot that is assigned a multi-contact loco-manipulation task, ie, a task …
controlled humanoid robot that is assigned a multi-contact loco-manipulation task, ie, a task …
Contact-implicit mpc: Controlling diverse quadruped motions without pre-planned contact modes or trajectories
This paper presents a contact-implicit model predictive control (MPC) framework for the real-
time discovery of multi-contact motions, without predefined contact mode sequences or …
time discovery of multi-contact motions, without predefined contact mode sequences or …
Inverse dynamics trajectory optimization for contact-implicit model predictive control
Robots must make and break contact with the environment to perform useful tasks, but
planning and control through contact remains a formidable challenge. In this work, we …
planning and control through contact remains a formidable challenge. In this work, we …
Robust trajectory optimization over uncertain terrain with stochastic complementarity
L Drnach, Y Zhao - IEEE Robotics and Automation Letters, 2021 - ieeexplore.ieee.org
Trajectory optimization with contact-rich behaviors has recently gained attention for
generating diverse locomotion behaviors without pre-specified ground contact sequences …
generating diverse locomotion behaviors without pre-specified ground contact sequences …
Convex geometric motion planning of multi-body systems on lie groups via variational integrators and sparse moment relaxation
This paper reports a novel result: with proper robot models based on geometric mechanics,
one can formulate the kinodynamic motion planning problems for rigid body systems as …
one can formulate the kinodynamic motion planning problems for rigid body systems as …
Contact-implicit Model Predictive Control: Controlling diverse quadruped motions without pre-planned contact modes or trajectories
This paper presents a contact-implicit model predictive control (MPC) framework for the real-
time discovery of multi-contact motions, without predefined contact mode sequences or …
time discovery of multi-contact motions, without predefined contact mode sequences or …