Ludovic Righetti

Adithya Kumar Chinnakkonda Ravi

IROS, 2023

Path Planning Under Uncertainty to Localize mmWave Sources.

[BibT_eX]

[DOI]

Kai Pfeiffer

Yuze Jia

Mingsheng Yin

Akshaj Kumar Veldanda

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

MPC with Sensor-Based Online Cost Adaptation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

On the Use of Torque Measurement in Centroidal State Estimation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Learning Simultaneous Navigation and Construction in Grid Worlds.

[BibT_eX]

[DOI]

Proceedings of the Eleventh International Conference on Learning Representations, 2023

2022

Robust Walking Based on MPC With Viability Guarantees.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2022

Millimeter Wave Wireless Assisted Robot Navigation With Link State Classification.

[BibT_eX]

[DOI]

Mingsheng Yin

Akshaj Kumar Veldanda

IEEE Open J. Commun. Soc., 2022

Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2022

Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2022

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion.

[BibT_eX]

[DOI]

CoRR, 2022

Efficient Object Manipulation Planning with Monte Carlo Tree Search.

[BibT_eX]

[DOI]

Huaijiang Zhu

CoRR, 2022

Model Based Meta Learning of Critics for Policy Gradients.

[BibT_eX]

[DOI]

Sarah Bechtle

Franziska Meier

CoRR, 2022

On the Use of Torque Measurement in Centroidal State Estimation.

[BibT_eX]

[DOI]

CoRR, 2022

ValueNetQP: Learned One-step Optimal Control for Legged Locomotion.

[BibT_eX]

[DOI]

Julian Viereck

Avadesh Meduri

Proceedings of the Learning for Dynamics and Control Conference, 2022

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2022

Introducing Force Feedback in Model Predictive Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations.

[BibT_eX]

[DOI]

Bilal Hammoud

Armand Jordana

Proceedings of the American Control Conference, 2022

2021

Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2021

Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators.

[BibT_eX]

[DOI]

Jonas Buchli

SIAM J. Appl. Dyn. Syst., 2021

Robot Learning With Crash Constraints.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control.

[BibT_eX]

[DOI]

Bilal Hammoud

IEEE Robotics Autom. Lett., 2021

Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Millimeter Wave Wireless-Assisted Robotic Navigation with Link State Classification.

[BibT_eX]

[DOI]

Mingsheng Yin

Akshaj Kumar Veldanda

CoRR, 2021

NIPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control.

[BibT_eX]

[DOI]

Kai Pfeiffer

CoRR, 2021

Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration.

[BibT_eX]

[DOI]

CoRR, 2021

NIPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs.

[BibT_eX]

[DOI]

Kai Pfeiffer

Adrien Escande

CoRR, 2021

Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting.

[BibT_eX]

[DOI]

Armand Jordana

Justin Carpentier

CoRR, 2021

Simultaneous Navigation and Construction Benchmarking Environments.

[BibT_eX]

[DOI]

CoRR, 2021

Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts.

[BibT_eX]

[DOI]

CoRR, 2021

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Learning a Centroidal Motion Planner for Legged Locomotion.

[BibT_eX]

[DOI]

Julian Viereck

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain.

[BibT_eX]

[DOI]

Avadesh Meduri

Mahrokh Ghoddousi Boroujeni

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

High-Frequency Nonlinear Model Predictive Control of a Manipulator.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Leveraging Forward Model Prediction Error for Learning Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

A unified framework for walking and running of bipedal robots.

[BibT_eX]

[DOI]

Elham Daneshmand

Proceedings of the 20th International Conference on Advanced Robotics, 2021

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance.

[BibT_eX]

[DOI]

Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021

2020

Walking Control Based on Step Timing Adaptation.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2020

Robust Humanoid Contact Planning With Learned Zero- and One-Step Capturability Prediction.

[BibT_eX]

[DOI]

Yu-Chi Lin

Dmitry Berenson

IEEE Robotics Autom. Lett., 2020

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research.

[BibT_eX]

[DOI]

Alexander Badri-Spröwitz

IEEE Robotics Autom. Lett., 2020

Learning Variable Impedance Control for Contact Sensitive Tasks.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Bipedal Walking Control using Variable Horizon MPC.

[BibT_eX]

[DOI]

CoRR, 2020

Robust walking based on MPC with viability-based feasibility guarantees.

[BibT_eX]

[DOI]

CoRR, 2020

Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics.

[BibT_eX]

[DOI]

CoRR, 2020

TriFinger: An Open-Source Robot for Learning Dexterity.

[BibT_eX]

[DOI]

CoRR, 2020

Enabling Remote Whole-Body Control with 5G Edge Computing.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Meta Learning via Learned Loss.

[BibT_eX]

[DOI]

Proceedings of the 25th International Conference on Pattern Recognition, 2020

TriFinger: An Open-Source Robot for Learning Dexterity.

[BibT_eX]

[DOI]

Proceedings of the 4th Conference on Robot Learning, 2020

2019

Growing the Humanoid Robotics Community [TC Spotlight].

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2019

Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues].

[BibT_eX]

[DOI]

Raj Madhavan

Raja Chatila

IEEE Robotics Autom. Mag., 2019

Where Do We Go From Here? Debates on the Future of Robotics Research at ICRA 2019 [From the Field].

[BibT_eX]

[DOI]

Lee E. Clement

Valentin Peretroukhin

IEEE Robotics Autom. Mag., 2019

Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues].

[BibT_eX]

[DOI]

Timothy Bretl

Raj Madhavan

IEEE Robotics Autom. Mag., 2019

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research.

[BibT_eX]

[DOI]

Alexander Badri-Spröwitz

CoRR, 2019

Meta-Learning via Learned Loss.

[BibT_eX]

[DOI]

CoRR, 2019

Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning.

[BibT_eX]

[DOI]

S. Ali A. Moosavian

Jia-Jie Zhu

CoRR, 2019

Learning to Explore in Motion and Interaction Tasks.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Leveraging Contact Forces for Learning to Grasp.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning.

[BibT_eX]

[DOI]

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

Curious iLQR: Resolving Uncertainty in Model-based RL.

[BibT_eX]

[DOI]

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018

Lethal Autonomous Weapon Systems [Ethical, Legal, and Societal Issues].

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2018

The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues].

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2018

Learning a Structured Neural Network Policy for a Hopping Task.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Robust Physics-based Motion Retargeting with Realistic Body Shapes.

[BibT_eX]

[DOI]

Comput. Graph. Forum, 2018

Unsupervised Contact Learning for Humanoid Estimation and Control.

[BibT_eX]

[DOI]

Nicholas Rotella

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

On Time Optimization of Centroidal Momentum Dynamics.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

An MPC Walking Framework with External Contact Forces.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Learning Task-Specific Dynamics to Improve Whole-Body Control.

[BibT_eX]

[DOI]

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

2017

Momentum-Centered Control of Contact Interactions.

[BibT_eX]

[DOI]

Alexander Herzog

Proceedings of the Geometric and Numerical Foundations of Movements, 2017

Whole-Body Control [TC Spotlight].

[BibT_eX]

[DOI]

Federico L. Moro

Luis Sentis

Jaeheung Park

Christopher G. Atkeson

IEEE Robotics Autom. Mag., 2017

A MPC Walking Framework With External Contact Forces.

[BibT_eX]

[DOI]

CoRR, 2017

On Time Optimisation of Centroidal Momentum Dynamics.

[BibT_eX]

[DOI]

CoRR, 2017

Pattern Generation for Walking on Slippery Terrains.

[BibT_eX]

[DOI]

CoRR, 2017

A robust walking controller based on online step location and duration optimization for bipedal locomotion.

[BibT_eX]

[DOI]

CoRR, 2017

2016

Risk sensitive nonlinear optimal control with measurement uncertainty.

[BibT_eX]

[DOI]

Brahayam Ponton

CoRR, 2016

A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation.

[BibT_eX]

[DOI]

CoRR, 2016

Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment.

[BibT_eX]

[DOI]

CoRR, 2016

Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid.

[BibT_eX]

[DOI]

Auton. Robots, 2016

On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions.

[BibT_eX]

[DOI]

Brahayam Pontón

Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Structured contact force optimization for kino-dynamic motion generation.

[BibT_eX]

[DOI]

Alexander Herzog

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Inertial sensor-based humanoid joint state estimation.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A convex model of humanoid momentum dynamics for multi-contact motion generation.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Balancing and walking using full dynamics LQR control with contact constraints.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Step timing adjustment: A step toward generating robust gaits.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015

Humanoid momentum estimation using sensed contact wrenches.

[BibT_eX]

[DOI]

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

Trajectory generation for multi-contact momentum control.

[BibT_eX]

[DOI]

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014

An autonomous manipulation system based on force control and optimization.

[BibT_eX]

[DOI]

Auton. Robots, 2014

Learning of grasp selection based on shape-templates.

[BibT_eX]

[DOI]

Auton. Robots, 2014

Dual execution of optimized contact interaction trajectories.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

State estimation for a humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting.

[BibT_eX]

[DOI]

Sean Mason

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

2013

Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation.

[BibT_eX]

[DOI]

Robert D. Gregg

IEEE Trans. Autom. Control., 2013

Optimal distribution of contact forces with inverse-dynamics control.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2013

Momentum-based Balance Control for Torque-controlled Humanoids

[BibT_eX]

[DOI]

CoRR, 2013

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2013

Learning task error models for manipulation.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Learning objective functions for manipulation.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012

Probabilistic depth image registration incorporating nonvisual information.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Template-based learning of grasp selection.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Learning Force Control Policies for Compliant Robotic Manipulation.

[BibT_eX]

[DOI]

Proceedings of the 29th International Conference on Machine Learning, 2012

Quadratic programming for inverse dynamics with optimal distribution of contact forces.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

Towards Associative Skill Memories.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

Encoding of periodic and their transient motions by a single dynamic movement primitive.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

2011

Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives.

[BibT_eX]

[DOI]

Auton. Robots, 2011

Operational Space Control of Constrained and Underactuated Systems.

[BibT_eX]

[DOI]

Michael N. Mistry

Proceedings of the Robotics: Science and Systems VII, 2011

Learning motion primitive goals for robust manipulation.

[BibT_eX]

[DOI]

Freek Stulp

Evangelos A. Theodorou

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Online movement adaptation based on previous sensor experiences.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Learning force control policies for compliant manipulation.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Inverse dynamics control of floating-base robots with external constraints: A unified view.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Control of legged robots with optimal distribution of contact forces.

[BibT_eX]

[DOI]

Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), 2011

2010

Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion.

[BibT_eX]

[DOI]

Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

2008

Control of legged locomotion using dynamical systems - design methods and adaptive frequency oscillators.

[BibT_eX]

[DOI]

PhD thesis, 2008

Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots.

[BibT_eX]

[DOI]

Loic Matthey

Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Pattern generators with sensory feedback for the control of quadruped locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007

iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research.

[BibT_eX]

[DOI]

Nikolaos G. Tsagarakis

Maria Chiara Carrozza

Darwin G. Caldwell

Adv. Robotics, 2007

Lower body realization of the baby humanoid - 'iCub'.

[BibT_eX]

[DOI]

Nikolaos G. Tsagarakis

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach.

[BibT_eX]

[DOI]

Sarah Degallier

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

2006

Engineering entrainment and adaptation in limit cycle systems.

[BibT_eX]

[DOI]

Jonas Buchli

Biol. Cybern., 2006

Design Methodologies for Central Pattern Generators: An Application to Crawling Humanoids.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems II, 2006

Programmable Central Pattern Generators: an Application to Biped Locomotion Control.

[BibT_eX]

[DOI]

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Movement generation using dynamical systems : a humanoid robot performing a drumming task.

[BibT_eX]

[DOI]

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, 2006

2005

A Dynamical Systems Approach to Learning: A Frequency-Adaptive Hopper Robot.

[BibT_eX]

[DOI]

Jonas Buchli

Proceedings of the Advances in Artificial Life, 8th European Conference, 2005

2004

Operating System Support for Interface Virtualisation of Reconfigurable Coprocessors.

[BibT_eX]

[DOI]

Proceedings of the 2004 Design, 2004

2003

Evolution of Fault-Tolerant Self-Replicating Structures.

[BibT_eX]

[DOI]