Search Results for author: Carlos Mastalli

Found 6 papers, 3 papers with code

Agile Maneuvers in Legged Robots: a Predictive Control Approach

no code implementations14 Mar 2022 Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael Mistry, Ioannis Havoutis, Sethu Vijayakumar

To the best of our knowledge, our predictive controller is the first to handle actuation limits, generate agile locomotion maneuvers, and execute optimal feedback policies for low level torque control without the use of a separate whole-body controller.

A Feasibility-Driven Approach to Control-Limited DDP

1 code implementation1 Oct 2020 Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Sola, Nicolas Mansard, Sethu Vijayakumar

Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization.

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

2 code implementations11 Sep 2019 Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard

Additionally, we propose a novel optimal control algorithm called Feasibility-driven Differential Dynamic Programming (FDDP).

Robotics Optimization and Control

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

1 code implementation10 Apr 2019 Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard

A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the whole-body trajectory that follows the centroidal pattern.

On-line and on-board planning and perception for quadrupedal locomotion

no code implementations7 Apr 2019 Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini

We use a lattice representation together with a set of defined body movement primitives for computing a body action plan.

Motion Planning

Cannot find the paper you are looking for? You can Submit a new open access paper.