MEMMO - Memory of Motion

Research output

Research output per year 2018 2019 2020 2021 2022 2024

• 27 Conference contribution
• 11 Article
• 1 Chapter

Research output per year

Research output per year

Search results

• 2024

  Safe and compliant control of redundant robots using superimposition of passive task-space controllers

  Tiseo, C., Merkt, W., Wolfslag, W., Vijayakumar, S. & Mistry, M., Jan 2024, In: Nonlinear dynamics. 112, 2, p. 1023-1038 16 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Control 100%
  • Redundant Robot 100%
  • Robot 100%
  • Contact Information 33%
  • Accuracy 33%
• 2023

  Inverse-Dynamics MPC via Nullspace Resolution

  Mastalli, C., Chhatoi, S. P., Corbéres, T., Tonneau, S. & Vijayakumar, S., 8 Aug 2023, In: IEEE Transactions on Robotics. 39, 4, p. 3222-3241 20 p., 10101674.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Control 100%
  • Inverse Dynamic Model 100%
  • Dynamics 100%
  • Locomotion 100%
  • Equality Constraint 50%

• Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection

  Shim, J., Mastalli, C., Corberes, T., Tonneau, S., Ivan, V. & Vijayakumar, S., 4 Jul 2023, 2023 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, p. 12226-12232 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Contact 100%
  • Placement 100%
  • Surface 100%
  • Topology 100%
  • Control 100%

• Adaptive assistive robotics: a framework for triadic collaboration between humans and robots

  Gordon, D. F. N., Christou, A., Stouraitis, T., Gienger, M. & Vijayakumar, S., 28 Jun 2023, In: Royal Society Open Science. 10, 6, p. 1-15 221617.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Robotics 100%
  • Robot 100%
  • Assistive Technology 40%
  • Multi-Objective Optimization 20%
  • Simulation 20%
• 2022

  A versatile co-design approach for dynamic legged robots

  Dinev, T., Mastalli, C., Ivan, V., Tonneau, S. & Vijayakumar, S., 26 Dec 2022, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 1-7 7 p. (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Design Constraint 100%
  • Physical Constraint 50%

• Learning to Guide Online Multi-Contact Receding Horizon Planning

  Wang, J., Lembono, T. S., Kim, S., Calinon, S., Vijayakumar, S. & Tonneau, S., 26 Dec 2022, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022 . Institute of Electrical and Electronics Engineers, p. 12942-12949 8 p. (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Planning Horizon 100%
  • Function Value 42%
  • Robot 28%
  • Simulation 14%
  • Computation 14%

• A feasibility-driven approach to control-limited DDP

  Mastalli, C., Merkt, W., Marti-Saumell, J., Ferrolho, H., Solà, J., Mansard, N. & Vijayakumar, S., 1 Dec 2022, In: Autonomous Robots. 46, 8, p. 985-1005 21 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Dynamic Programming 100%
  • Control 100%
  • Driven Approach 100%
  • Shooting Method 60%
  • Initialization 40%

• Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem

  Tonneau, S., 12 Jul 2022, Proceedings of the International Conference on Robotics and Automation (ICRA 2022). Institute of Electrical and Electronics Engineers, p. 3335-3340 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Application 100%
  • Optimization 100%
  • Optimal Solution 50%
  • Humanoid Robots 50%
  • Computation 50%

• Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints

  Pousa De Moura, J., Stouraitis, T. & Vijayakumar, S., 12 Jul 2022, Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2022. Institute of Electrical and Electronics Engineers, p. 970-976 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Complementarity 100%
  • Optimization 100%
  • Trajectory Optimization 100%
  • Mathematical Program 75%
  • Controllers 75%

• Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost

  Gordon, D. F. N., McGreavy, C., Christou, A. & Vijayakumar, S., 7 Jun 2022, In: IEEE Transactions on Robotics. 38, 3, p. 1410-1429 20 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Simulation 100%
  • Human-in-the-Loop 100%
  • Optimization 100%
  • Control 50%
  • Robotics 25%
• 2021

  A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots

  Tiseo, C., Ivan, V., Merkt, W., Havoutis, I., Mistry, M. & Vijayakumar, S., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers, p. 8223-8229 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Mobile Robot 100%
  • Simulation 100%
  • Collisions 100%
  • Control 100%
  • Planning Algorithm 100%

• Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization

  Ferrolho, H., Ivan, V., Merkt, W., Havoutis, I. & Vijayakumar, S., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, p. 12752-12758 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Transcription 100%
  • Dynamics 100%
  • Time 11%

• Sparsity-Inducing Optimal Control via Differential Dynamic Programming

  Dinev, T., Merkt, W., Ivan, V., Havoutis, I. & Vijayakumar, S., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers, p. 8216-8222 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Dynamic Programming 100%
  • Sparsity 100%
  • Control 100%
  • Optimal Control 100%
  • Optimal Control Theory 100%

• Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

  Dantec, E., Budhiraja, R., Roig, A., Lembono, T., Saurel, G., Stasse, O., Fernbach, P., Tonneau, S., Vijayakumar, S., Calinon, S., Taïx, M. & Mansard, N., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers, p. 8202-8208 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Body Model 100%
  • Experiments 100%
  • Predictive Control Model 100%
  • Control 100%
  • Predictive Model 100%

• Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion

  Wang, J., Kim, S., Vijayakumar, S. & Tonneau, S., 11 Oct 2021, 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids). Institute of Electrical and Electronics Engineers, p. 53-60 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Planning Horizon 100%
  • Locomotion 100%
  • Prediction Horizon 80%
  • Models 80%
  • Dynamics 80%

• Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts

  Merkt, W. X., Ivan, V., Dinev, T., Havoutis, I. & Vijayakumar, S., 1 Oct 2021, In: IEEE Transactions on Robotics. 37, 5, p. 1649 - 1660 12 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Multimodality 100%
  • Control 100%
  • Persistent Homology 100%
  • Solution Space 33%
  • Topology 33%

• Residual force polytope: Admissible task-space forces of dynamic trajectories

  Ferrolho, H., Merkt, W., Tiseo, C. & Vijayakumar, S., 1 Aug 2021, In: Robotics and Autonomous Systems. 142, 11 p., 103814.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Optimization 100%
  • Systems Design 50%
  • Representation Model 50%
  • Representation 50%
  • System Dynamic 50%

• Automatic Gait Pattern Selection for Legged Robots

  Wang, J., Chatzinikolaidis, I., Mastalli, C., Wolfslag, W., Xin, G., Tonneau, S. & Vijayakumar, S., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 3990 - 3997 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Robot 100%
  • Convergence Speed 25%
  • Direct Mapping 25%
  • Roles 25%
  • Optimization Problem 25%

• Modelling and Control of a Hybrid Wheeled Jumping Robot

  Dinev, T., Xin, S., Merkt, W., Ivan, V. & Vijayakumar, S., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 2563 - 2570 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Control 100%
  • Robot 100%
  • Hybrid 100%
  • Model 50%
  • Models 50%

• Online Dynamic Motion Planning and Control for Wheeled Biped Robots

  Xin, S. & Vijayakumar, S., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 3892 - 3899 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Motion Planning 100%
  • Motion Control 100%
  • Robot 100%
  • Planning 100%
  • Dynamic Motion 100%

• Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

  Ferrolho, H., Merkt, W., Ivan, V., Wolfslag, W. & Vijayakumar, S., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 7477-7484 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Robot 100%
  • Nonlinear Programming 50%
  • Manipulator 50%
  • Optimization Framework 50%

• Squash-Box Feasibility Driven Differential Dynamic Programming

  Marti-Saumell, J., Solà, J., Mastalli, C. & Santamaria-Navarro, A., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 7637 - 7644 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Dynamic Programming 100%
  • Control 100%
  • Optimal Control Problem 66%
  • Convergence Rate 33%
  • Nonlinear Programming 33%
• 2020

  Motion Planning for Quadrupedal Locomotion:Coupled Planning, Terrain Mapping and Whole-Body Control

  Mastalli, C., Havoutis, I., Focchi, M., Caldwell, D. G. & Semini, C., 1 Dec 2020, In: IEEE Transactions on Robotics. 36, 6, p. 1635-1648 15 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Planning 100%
  • Locomotion 100%
  • Cartography 100%
  • Model 44%
  • Planning Method 22%

• Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

  Xin, G., Tiseo, C., Wolfslag, W., Smith, J., Cebe, O., Li, Z., Vijayakumar, S. & Mistry, M., 8 Oct 2020, 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). Institute of Electrical and Electronics Engineers, p. 1415-1420 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Industrial Environment 100%
  • Control 100%
  • Robot 100%
  • Operation Mode 20%
  • Control Framework 20%

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

  Mastalli, C., Budhiraja, R., Merkt, W., Saurel, G., Hammoud, B., Naveau, M., Carpentier, J., Righetti, L., Vijayakumar, S. & Mansard, N., 15 Sept 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, p. 2536-2542 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Control 100%
  • Dynamic Library 100%
  • Robot Control 100%
  • Dynamic Programming Algorithm 50%
  • Iterations 50%

• Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

  Lembono, T. S., Mastalli, C., Fernbach, P., Mansard, N. & Calinon, S., 15 Sept 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, p. 1357-1363 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Iterations 100%
  • Control 100%
  • Solution Quality 33%
  • Building-Blocks 33%
  • Humanoid Robots 33%

• C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios

  Fernbach, P., Tonneau, S., Stasse, O., Carpentier, J. & Taïx, M., 4 Jun 2020, In: IEEE Transactions on Robotics. 36, 3, p. 676-691 16 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Robot 100%
  • Solution Space 25%
  • Linear Optimization 25%
  • Representation 25%
  • Linear Program 25%

• Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments

  Merkt, W., Ivan, V. & Vijayakumar, S., 27 Jan 2020, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 7248-7255 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Dynamic Environment 100%
  • Collisions 100%
  • Continuous Time 100%
  • Optimization 100%
  • Mobile Robot 12%

• Online Optimal Impedance Planning for Legged Robots

  Angelini, F., Xin, G., Wolfslag, W., Tiseo, C., Mistry, M., Garabini, M., Bicchi, A. & Vijayakumar, S., 27 Jan 2020, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Institute of Electrical and Electronics Engineers, p. 6028-6035 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Robot 100%
  • User 11%
  • Impedance Control 11%
  • Real World 11%
  • Complex Task 11%
• 2019

  Comparing Alternate Modes of Teleoperation for Constrained Tasks

  Mower, C. E., Merkt, W., Davies, A. & Vijayakumar, S., 19 Sept 2019, 2019 IEEE 14th International Conference on Automation Science and Engineering (CASE). Institute of Electrical and Electronics Engineers, p. 1497-1504 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Control 100%
  • Input Device 25%
  • Automation 25%
  • Evaluation 25%
  • Dynamic Nature 25%

• Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution

  Moura, J., Ivan, V., Erden, M. S. & Vijayakumar, S., 26 Jun 2019, (E-pub ahead of print) Proceedings of Robotics: Science and Systems. Bicchi, A., Kress-Gazit, H. & Hutchinson, S. (eds.). Freiburg im Breisgau, Germany, Vol. 15. p. 1-10 10 p. (Robotics: Science and Systems Proceedings; vol. XV).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Inertia Matrix 100%
  • Models 100%
  • Robot 100%
  • Multiple Task 50%
  • Robotics 50%

• Learning Whole-body Motor Skills for Humanoids

  Yang, C., Yuan, K., Merkt, W., Komura, T., Vijayakumar, S. & Li, Z., 24 Jan 2019, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China: Institute of Electrical and Electronics Engineers, p. 270-276 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Physic Simulator 100%
  • Feedback Control 100%
  • Real World 100%
  • Control 100%
  • Traditional Method 100%

• Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints

  Yang, Y., Merkt, W., Ivan, V. & Vijayakumar, S., 24 Jan 2019, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China: Institute of Electrical and Electronics Engineers, p. 1-9 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Planning Method 100%
  • Configuration Space 100%
  • Collisions 100%
  • Simulation 50%
  • Humanoid Robots 50%

• Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments

  Ferrolho, H., Merkt, W., Yang, Y., Ivan, V. & Vijayakumar, S., 24 Jan 2019, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China: Institute of Electrical and Electronics Engineers, p. 944-951 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Robot 100%
  • Supports 100%
  • Planning 100%
  • Environment 100%
  • Surfaces 100%

• Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments

  Merkt, W., Ivan, V. & Vijayakumar, S., 7 Jan 2019, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Madrid, Spain: Institute of Electrical and Electronics Engineers, p. 5877-5884 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Initialization 100%
  • Precomputation 100%
  • Complex Environment 100%
  • Optimization 100%
  • Optimal Solution 33%

• Real-time Motion Planning in Changing Environments Using Topology-based Encoding of Past Knowledge

  Fisher, R., Rosman, B. & Ivan, V., 7 Jan 2019, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Madrid, Spain: Institute of Electrical and Electronics Engineers, p. 6512-6517 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Topology 100%
  • Motion Planning 100%
  • Changing Environment 100%
  • Algorithms 100%
  • Collisions 66%

• EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control

  Ivan, V., Yang, Y., Merkt, W., Camilleri, M. P. & Vijayakumar, S., 2019, Robot Operating System (ROS): The Complete Reference (Volume 3). Koubaa, A. (ed.). Cham: Springer, p. 211-240 30 p. (Studies in Computational Intelligence ; vol. 778).

  Research output: Chapter in Book/Report/Conference proceeding › Chapter

  • Motion Planning 100%
  • Motion Control 100%
  • Benchmarking 100%
  • Optimization 100%
  • Algorithms 50%
• 2018

  Constraint-aware learning of policies by demonstration

  Armesto, L., Moura, J., Ivan, V., Erden, M. S., Sala, A. & Vijayakumar, S., 1 Dec 2018, In: International Journal of Robotics Research. 37, 13-14, p. 1673-1689 17 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Curved Surface 100%
  • Robotics 100%
  • Parametrization 100%
  • Redundant Robot 100%
  • Validation 100%

• Effectively Quantifying the Performance of Lower-Limb Exoskeletons Over a Range of Walking Conditions

  Gordon, D. F. N., Henderson, G. & Vijayakumar, S., 27 Jun 2018, In: Frontiers in Robotics and AI. 5, 16 p., 61.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Exoskeleton 100%
  • Lower Limb 100%
  • Leg Exoskeleton 100%
  • Gait 33%
  • Control 33%