Search Results for author: Guilhem Saurel

Found 2 papers, 1 papers with code

Torque Controlled Locomotion of a Biped Robot with Link Flexibility

no code implementations27 Oct 2022 Nahuel A Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse

The stabilizer and motion generator are designed together to ensure feasibility under the assumption of bounded errors.

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

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