no code implementations • 22 Dec 2022 • An Mo, Viktoriia Kamska, Fernanda Bribiesca-Contreras, Janet Hauptmann, Monica Daley, Alexander Badri-Spröwitz
The parametric model incorporates morphological and material properties of the LSO.
1 code implementation • 7 Oct 2019 • Steve Heim, Alexander von Rohr, Sebastian Trimpe, Alexander Badri-Spröwitz
While safety can only be guaranteed after learning the safety measure, we show that failures can already be greatly reduced by using the estimated measure during learning.
1 code implementation • 30 Sep 2019 • Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti
Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation.
Robotics