Search Results for author: Rohan Budhiraja

Found 2 papers, 2 papers with code

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

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

1 code implementation10 Apr 2019 Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard

A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the whole-body trajectory that follows the centroidal pattern.

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