Search Results for author: Alin Albu-Schäffer

Found 4 papers, 1 papers with code

Learning-based adaption of robotic friction models

no code implementations25 Oct 2023 Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok

Subsequently, to adapt to more complex asymmetric settings, we train a second network on a small dataset, focusing on predicting the residual of the initial network's output.


Learning to Exploit Elastic Actuators for Quadruped Locomotion

no code implementations15 Sep 2022 Antonin Raffin, Daniel Seidel, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp

Spring-based actuators in legged locomotion provide energy-efficiency and improved performance, but increase the difficulty of controller design.

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