2 code implementations • 12 Jan 2018 • Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli
The CT was designed to solve large-scale optimal control and estimation problems efficiently and allows for online control of dynamic systems.
Robotics Optimization and Control
no code implementations • 7 Dec 2017 • Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine D. Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts.
Robotics
2 code implementations • 29 Nov 2017 • Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli, Moritz Diehl
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control.
Systems and Control Robotics Optimization and Control
no code implementations • 12 Sep 2017 • Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli
First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model.
Robotics
