Search Results for author: Maximilien Naveau

Found 4 papers, 3 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.

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

1 code implementation30 Sep 2019 Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti

Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation.


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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