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09/14/2023
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
Differential Dynamic Programming (DDP) is an efficient computational too...
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07/24/2023
Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives
Differential Dynamic Programming (DDP) is a popular technique used to ge...
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02/12/2023
On Second-Order Derivatives of Rigid-Body Dynamics: Theory Implementation
Model-based control for robots has increasingly been dependent on optimi...
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11/12/2022
CACTO: Continuous Actor-Critic with Trajectory Optimization – Towards global optimality
This paper presents a novel algorithm for the continuous control of dyna...
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09/28/2022
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
Specialized motions such as jumping are often achieved on quadruped robo...
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09/28/2022
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
Reinforcement Learning (RL) has witnessed great strides for quadruped lo...
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03/03/2022
Closed-Form Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
Optimization-based control methods for robots often rely on first-order ...
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03/01/2022
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
This document provides full details of second-order partial derivatives ...
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01/28/2022
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
This paper studies capturability and push recovery for quadrupedal locom...
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01/17/2022
Generalization in Supervised Learning Through Riemannian Contraction
We prove that Riemannian contraction in a supervised learning setting im...
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09/27/2021
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
Task-space Passivity-Based Control (PBC) for manipulation has numerous a...
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09/09/2021
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
Seemingly in defiance of basic physics, cats consistently land on their ...
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06/28/2021
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum
Balancing is a fundamental need for legged robots due to their unstable ...
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05/11/2021
Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra
Optimization algorithms are increasingly important for the control of ri...
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03/04/2021
Tensor-Free Second-Order Differential Dynamic Programming
This paper presents a method to reduce the computational complexity of i...
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12/11/2020
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
This paper studies jumping for wheeled-bipedal robots, a motion that tak...
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10/17/2020
Model Hierarchy Predictive Control of Robotic Systems
This paper presents a new predictive control architecture for high-dimen...
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10/02/2020
Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems
The growth of model-based control strategies for robotics platforms has ...
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06/17/2020
Approximate Simulation for Template-Based Whole-Body Control
Reduced-order template models are widely used to control high degree-of-...
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06/15/2020
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots
This paper presents a Differential Dynamic Programming (DDP) framework f...
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11/17/2019
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model
This paper considers the optimal control problem of an extended spring-l...
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09/20/2019
Formal Connections between Template and Anchor Models via Approximate Simulation
Reduced-order template models like the Linear Inverted Pendulum (LIP) an...
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11/10/2017