Optimization and optimal control

Co-designing versatile quadruped robots for dynamic and energy-efficient motions
This paper presents a bi-level optimization framework to concurrently optimize a quadruped hardware and control policies for achieving …
Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères
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Co-designing versatile quadruped robots for dynamic and energy-efficient motions
Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators
This paper deals with the robust control of fully-actuated robots subject to joint position, velocity and acceleration bounds. Robotic …
Erik Zanolli, Andrea Del Prete
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Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators
One robot for many tasks: Versatile co-design through stochastic programming
Versatility is one of the main factors driving the adoption of robots on the assembly line and in other applications. Compared to …
Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing
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One robot for many tasks: Versatile co-design through stochastic programming