no code implementations • 14 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.
1 code implementation • 1 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.
2 code implementations • 11 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
1 code implementation • 10 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.
no code implementations • 9 Apr 2019 • Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, Jose Cappelletto, Juan C. Grieco, Gerardo Fernandez-Lopez, Claudio Semini
In this paper, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions and motion, in a computationally efficient fashion.
no code implementations • 7 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.