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05/19/2023
Risk-Sensitive Extended Kalman Filter
In robotics, designing robust algorithms in the face of estimation uncer...
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09/30/2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Online trajectory optimization techniques generally depend on heuristic-...
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09/20/2022
MPC with Sensor-Based Online Cost Adaptation
Model predictive control is a powerful tool to generate complex motions ...
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01/19/2022
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Online planning of whole-body motions for legged robots is challenging d...
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01/11/2022
ValueNetQP: Learned one-step optimal control for legged locomotion
Optimal control is a successful approach to generate motions for complex...
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08/04/2021
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
In this paper we explore the use of block coordinate descent (BCD) to op...
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10/28/2020
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Reactive stepping and push recovery for biped robots is often restricted...
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10/02/2020
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
This paper investigates the problem of efficient computation of physical...
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09/30/2019
