Efficient Model Identification for Tensegrity Locomotion

no code implementations • 12 Apr 2018 • Shaojun Zhu, David Surovik, Kostas E. Bekris, Abdeslam Boularias

This paper aims to identify in a practical manner unknown physical parameters, such as mechanical models of actuated robot links, which are critical in dynamical robotic tasks.

Bayesian Optimization

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion

no code implementations • 3 Jul 2020 • Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner

In addition, kinodynamic constraints are often non-differentiable and difficult to implement in an optimisation approach.