ERD

Walking Control Based on Step Timing Adaptation

Project: CONT-ACT

Updated at: 27-04-2024

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Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

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Updated at: 27-04-2024

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Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control

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Updated at: 27-04-2024

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

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Updated at: 27-04-2024

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Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction

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Updated at: 27-04-2024

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Balancing and walking using full dynamics LQR control with contact constraints

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Updated at: 27-04-2024

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Structured contact force optimization for kino-dynamic motion generation

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Updated at: 27-04-2024

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Trajectory generation for multi-contact momentum control

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Updated at: 27-04-2024

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Curious iLQR: Resolving Uncertainty in Model-based RL

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Updated at: 27-04-2024

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Leveraging Contact Forces for Learning to Grasp

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Updated at: 27-04-2024

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

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Updated at: 27-04-2024

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

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Updated at: 27-04-2024

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Stepping stabilization using a combination of DCM tracking and step adjustment

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Updated at: 27-04-2024

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A Robustness Analysis of Inverse Optimal Control of Bipedal Walking

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Updated at: 27-04-2024

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Learning Task-Specific Dynamics to Improve Whole-Body Control

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Updated at: 27-04-2024

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Humanoid momentum estimation using sensed contact wrenches

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Updated at: 27-04-2024

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Inertial sensor-based humanoid joint state estimation

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Updated at: 27-04-2024

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Learning to Explore in Motion and Interaction Tasks

Project: CONT-ACT

Updated at: 27-04-2024

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DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain

Project: CONT-ACT

Updated at: 27-04-2024

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Learning a Structured Neural Network Policy for a Hopping Task

Project: CONT-ACT

Updated at: 27-04-2024

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

Project: CONT-ACT

Updated at: 27-04-2024

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Step timing adjustment: A step toward generating robust gaits

Project: CONT-ACT

Updated at: 27-04-2024

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Pattern Generation for Walking on Slippery Terrains

Project: CONT-ACT

Updated at: 27-04-2024

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An MPC Walking Framework with External Contact Forces

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Updated at: 27-04-2024

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Momentum-Centered Control of Contact Interactions

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Updated at: 27-04-2024

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Whole-Body Manipulation

Project: CONT-ACT

Updated at: 27-04-2024

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Meta-learning via learned loss

Project: CONT-ACT

Updated at: 27-04-2024

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Learning a Centroidal Motion Planner for Legged Locomotion

Project: CONT-ACT

Updated at: 27-04-2024

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High-Frequency Nonlinear Model Predictive Control of a Manipulator

Project: CONT-ACT

Updated at: 27-04-2024

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Learning Variable Impedance Control for Contact Sensitive Tasks

Project: CONT-ACT

Updated at: 27-04-2024

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Project acronym CONT-ACT

Resources

Selected filters:

Walking Control Based on Step Timing Adaptation

Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control

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

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction

Balancing and walking using full dynamics LQR control with contact constraints

Structured contact force optimization for kino-dynamic motion generation

Trajectory generation for multi-contact momentum control

Curious iLQR: Resolving Uncertainty in Model-based RL

Leveraging Contact Forces for Learning to Grasp

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

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

Stepping stabilization using a combination of DCM tracking and step adjustment

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking

Learning Task-Specific Dynamics to Improve Whole-Body Control

Humanoid momentum estimation using sensed contact wrenches

Inertial sensor-based humanoid joint state estimation

Learning to Explore in Motion and Interaction Tasks

DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain

Learning a Structured Neural Network Policy for a Hopping Task

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

Step timing adjustment: A step toward generating robust gaits

Pattern Generation for Walking on Slippery Terrains

An MPC Walking Framework with External Contact Forces

Momentum-Centered Control of Contact Interactions

Whole-Body Manipulation

Meta-learning via learned loss

Learning a Centroidal Motion Planner for Legged Locomotion

High-Frequency Nonlinear Model Predictive Control of a Manipulator

Learning Variable Impedance Control for Contact Sensitive Tasks