7 accepted papers
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled dynamics. While model-based controllers provide precise planning …
Loco-manipulation demands coordinated whole-body motion to manipulate objects effectively while maintaining locomotion stability, presenting significant challenges for both planning and control. In this work, we propose a whole-body model predictive control (MPC) framework that directly optimizes jo
Loco-manipulation demands coordinated whole-body motion to manipulate objects effectively while maintaining locomotion stability, presenting significant challenges for both planning and control. In this work, we propose a whole-body model predictive control (MPC) framework that directly optimizes jo…
Designing robotic manipulators for generic tasks while meeting specific requirements is a complex, iterative process involving mechanical design, simulation, control, and testing. New computational design tools are needed to simplify and speed up such processes. This work presents an original formul
We present a novel differentiable approach to quantifying and optimizing stability in robotic systems addressing an open challenge in the field of robot analysis, control, design, and optimization. Our method leverages differentiable simulation over extended time horizons to estimate a robustness me
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled dynamics. While model-based controllers provide precise planning
This letter outlines a bi-level algorithm to concurrently optimize robot hardware and control parameters in order to minimize energy consumption during the execution of tasks and to ensure robust performance. The outer loop consists in a genetic algorithm that optimizes the co-design variables accor