Research output per year
Research output per year
- 27 results
Search results
-
2023
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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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2020
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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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