paper-conference

Robust humanoid locomotion using trajectory optimization and sample-efficient learning
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including …
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia Jie Zhu, Andrea Del Prete, Ludovic Righetti
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Robust humanoid locomotion using trajectory optimization and sample-efficient learning
On Time Optimization of Centroidal Momentum Dynamics
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with …
Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller
Predictive control is an efficient model-based methodology to control complex dynamical systems. In general, it boils down to the …
N. Mansard, A. Del Prete, M. Geisert, S. Tonneau, O. Stasse
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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller
A kinodynamic steering-method for legged multi-contact locomotion
© 2017 IEEE. We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including …
P. Fernbach, S. Tonneau, A. Del Prete, M. Taix
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Experimental Evaluation of Simple Estimators for Humanoid Robots
This paper introduces and evaluates a family of new simple estimators to reconstruct the pose and velocity of the floating base. The …
Thomas Flayols, Andrea Del Prete, Patrick Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse
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Online Payload Identification for Quadruped Robots
Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin Caldwell, Claudio Semini
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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground
Nirmal Giftsun, Andrea Del Prete, Florent Lamiraux
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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground
TALOS: A new humanoid research platform targeted for industrial applications
© 2017 IEEE. The upcoming generation of humanoid robots will have to be equipped with state-of-The-Art technical features along with …
O. Stasse, T. Flayols, R. Budhiraja, K. Giraud-Esclasse, J. Carpentier, J. Mirabel, A. Del Prete, P. Soueres, N. Mansard, F. Lamiraux, J.-P. Laumond, L. Marchionni, H. Tome, F. Ferro
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Fast Algorithms to Test Robust Static Equilibrium for Legged Robots
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
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Fast Algorithms to Test Robust Static Equilibrium for Legged Robots
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics
Andrea Del Prete, Nicolas Mansard
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