Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

2 code implementations • 11 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

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

1 code implementation • 30 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.

Robotics

TriFinger: An Open-Source Robot for Learning Dexterity

2 code implementations • 8 Aug 2020 • Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer

Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade.

reinforcement-learning Reinforcement Learning (RL)

Torque Controlled Locomotion of a Biped Robot with Link Flexibility

no code implementations • 27 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.