Learning and Sequencing of Object-Centric Manipulation Skills for Industrial Tasks

no code implementations • 24 Aug 2020 • Leonel Rozo, Meng Guo, Andras G. Kupcsik, Marco Todescato, Philipp Schillinger, Markus Giftthaler, Matthias Ochs, Markus Spies, Nicolai Waniek, Patrick Kesper, Mathias Büerger

Furthermore, to accomplish complex manipulation tasks, robots should be able to sequence several skills and adapt them to changing situations.

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

2 code implementations • 12 Jan 2018 • Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli

The CT was designed to solve large-scale optimal control and estimation problems efficiently and allows for online control of dynamic systems.

Robotics Optimization and Control

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

no code implementations • 7 Dec 2017 • Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine D. Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli

In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts.

Robotics

A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control

2 code implementations • 29 Nov 2017 • Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli, Moritz Diehl

This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control.

Systems and Control Robotics Optimization and Control

Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation

no code implementations • 12 Sep 2017 • Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli

First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model.

Robotics

Optimal and Learning Control for Autonomous Robots

no code implementations • 30 Aug 2017 • Jonas Buchli, Farbod Farshidian, Alexander Winkler, Timothy Sandy, Markus Giftthaler

Optimal and Learning Control for Autonomous Robots has been taught in the Robotics, Systems and Controls Masters at ETH Zurich with the aim to teach optimal control and reinforcement learning for closed loop control problems from a unified point of view.

reinforcement-learning Reinforcement Learning +2

Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control

no code implementations • 27 Jan 2017 • Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints.

Robotics

Mobile Robotic Fabrication at 1:1 scale: the In situ Fabricator

no code implementations • 13 Jan 2017 • Markus Giftthaler, Timothy Sandy, Kathrin Dörfler, Ian Brooks, Mark Buckingham, Gonzalo Rey, Matthias Kohler, Fabio Gramazio, Jonas Buchli

This paper presents the concept of an In situ Fabricator, a mobile robot intended for on-site manufacturing, assembly and digital fabrication.

Robotics