Ludovic Righetti

According to our database1, Ludovic Righetti authored at least 97 papers between 2003 and 2021.

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Bibliography

2021
Robot Learning With Crash Constraints.
IEEE Robotics Autom. Lett., 2021

Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control.
IEEE Robotics Autom. Lett., 2021

Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control.
IEEE Robotics Autom. Lett., 2021

Simultaneous Navigation and Construction Benchmarking Environments.
CoRR, 2021

Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts.
CoRR, 2021

2020
Walking Control Based on Step Timing Adaptation.
IEEE Trans. Robotics, 2020

Robust Humanoid Contact Planning With Learned Zero- and One-Step Capturability Prediction.
IEEE Robotics Autom. Lett., 2020

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research.
IEEE Robotics Autom. Lett., 2020

Learning Variable Impedance Control for Contact Sensitive Tasks.
IEEE Robotics Autom. Lett., 2020

Leveraging Forward Model Prediction Error for Learning Control.
CoRR, 2020

Learning a Centroidal Motion Planner for Legged Locomotion.
CoRR, 2020

DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain.
CoRR, 2020

Bipedal Walking Control using Variable Horizon MPC.
CoRR, 2020

Robust walking based on MPC with viability-based feasibility guarantees.
CoRR, 2020

Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics.
CoRR, 2020

TriFinger: An Open-Source Robot for Learning Dexterity.
CoRR, 2020

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance.
CoRR, 2020

Enabling Remote Whole-Body Control with 5G Edge Computing.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Meta Learning via Learned Loss.
Proceedings of the 25th International Conference on Pattern Recognition, 2020

2019
Growing the Humanoid Robotics Community [TC Spotlight].
IEEE Robotics Autom. Mag., 2019

Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues].
IEEE Robotics Autom. Mag., 2019

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

Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues].
IEEE Robotics Autom. Mag., 2019

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking.
IEEE Robotics Autom. Lett., 2019

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research.
CoRR, 2019

Meta-Learning via Learned Loss.
CoRR, 2019

Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning.
CoRR, 2019

Learning to Explore in Motion and Interaction Tasks.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Leveraging Contact Forces for Learning to Grasp.
Proceedings of the International Conference on Robotics and Automation, 2019

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction.
Proceedings of the International Conference on Robotics and Automation, 2019

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning.
Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

Curious iLQR: Resolving Uncertainty in Model-based RL.
Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018
Lethal Autonomous Weapon Systems [Ethical, Legal, and Societal Issues].
IEEE Robotics Autom. Mag., 2018

The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues].
IEEE Robotics Autom. Mag., 2018

Learning a Structured Neural Network Policy for a Hopping Task.
IEEE Robotics Autom. Lett., 2018

Robust Physics-based Motion Retargeting with Realistic Body Shapes.
Comput. Graph. Forum, 2018

Unsupervised Contact Learning for Humanoid Estimation and Control.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

On Time Optimization of Centroidal Momentum Dynamics.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

An MPC Walking Framework with External Contact Forces.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Learning Task-Specific Dynamics to Improve Whole-Body Control.
Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

2017
Whole-Body Control [TC Spotlight].
IEEE Robotics Autom. Mag., 2017

A MPC Walking Framework With External Contact Forces.
CoRR, 2017

On Time Optimisation of Centroidal Momentum Dynamics.
CoRR, 2017

Pattern Generation for Walking on Slippery Terrains.
CoRR, 2017

A robust walking controller based on online step location and duration optimization for bipedal locomotion.
CoRR, 2017

2016
Risk sensitive nonlinear optimal control with measurement uncertainty.
CoRR, 2016

A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation.
CoRR, 2016

Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment.
CoRR, 2016

Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid.
Auton. Robots, 2016

On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Structured contact force optimization for kino-dynamic motion generation.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Inertial sensor-based humanoid joint state estimation.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A convex model of humanoid momentum dynamics for multi-contact motion generation.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Balancing and walking using full dynamics LQR control with contact constraints.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Step timing adjustment: A step toward generating robust gaits.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015
Humanoid momentum estimation using sensed contact wrenches.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

Trajectory generation for multi-contact momentum control.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014
An autonomous manipulation system based on force control and optimization.
Auton. Robots, 2014

Learning of grasp selection based on shape-templates.
Auton. Robots, 2014

Dual execution of optimized contact interaction trajectories.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

State estimation for a humanoid robot.
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.
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.
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.
IEEE Trans. Autom. Control., 2013

Optimal distribution of contact forces with inverse-dynamics control.
Int. J. Robotics Res., 2013

Momentum-based Balance Control for Torque-controlled Humanoids
CoRR, 2013

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots.
Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2013

Learning task error models for manipulation.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Learning objective functions for manipulation.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012
Probabilistic depth image registration incorporating nonvisual information.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Template-based learning of grasp selection.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Learning Force Control Policies for Compliant Robotic Manipulation.
Proceedings of the 29th International Conference on Machine Learning, 2012

Quadratic programming for inverse dynamics with optimal distribution of contact forces.
Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

Towards Associative Skill Memories.
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.
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.
Auton. Robots, 2011

Operational Space Control of Constrained and Underactuated Systems.
Proceedings of the Robotics: Science and Systems VII, 2011

Learning motion primitive goals for robust manipulation.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Online movement adaptation based on previous sensor experiences.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Learning force control policies for compliant manipulation.
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.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Control of legged robots with optimal distribution of contact forces.
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.
Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

2008
Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots.
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.
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.
Adv. Robotics, 2007

Lower body realization of the baby humanoid - 'iCub'.
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.
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.
Biol. Cybern., 2006

Design Methodologies for Central Pattern Generators: An Application to Crawling Humanoids.
Proceedings of the Robotics: Science and Systems II, 2006

Programmable Central Pattern Generators: an Application to Biped Locomotion Control.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Movement generation using dynamical systems : a humanoid robot performing a drumming task.
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.
Proceedings of the Advances in Artificial Life, 8th European Conference, 2005

2004
Operating System Support for Interface Virtualisation of Reconfigurable Coprocessors.
Proceedings of the 2004 Design, 2004

2003
Evolution of Fault-Tolerant Self-Replicating Structures.
Proceedings of the Advances in Artificial Life, 7th European Conference, 2003


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