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Found 8 papers, 5 papers with code
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
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.
A Feasibility-Driven Approach to Control-Limited DDP
Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization.
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Additionally, we propose a novel optimal control algorithm called Feasibility-driven Differential Dynamic Programming (FDDP).
Robotics Optimization and Control
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces.
Morphological Symmetries in Robotics
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems.
On-line and on-board planning and perception for quadrupedal locomotion
We use a lattice representation together with a set of defined body movement primitives for computing a body action plan.
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
In this paper, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions and motion, in a computationally efficient fashion.
Agile Maneuvers in Legged Robots: a Predictive Control Approach
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.
