6 accepted papers
This work presents a Differential Dynamic Programming (DDP) approach for systems characterized by implicit dynamics using sensitivity analysis, such as those modelled via inverse dynamics, variational, and implicit integrators. It leads to a more general formulation of DDP, enabling the use of the f
An important issue when synthesizing legged locomotion plans is the combinatorial complexity that arises from gait pattern selection. Though it can be defined manually, the gait pattern plays an important role in the feasibility and optimality of a motion with respect to a task. Replacing human intu…
This letter presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact model that can be computed in closed-form, satisfies frict
This letter aims to achieve automatic tuning of optimal parameters for whole-body control algorithms to achieve the best performance of high-DoF robots. Typically, the control parameters at a scale up to hundreds are often hand-tuned yielding sub-optimal performance. Bayesian optimization (BO) can b
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve robustness. The linear inverted pendulum as the motion model captures…
This work provides a principled formalism to address the joint planning problem in dyadic collaborative manipulation (DcM) scenarios by representing the human’s intentions as task space forces and solving the joint problem holistically via model-based optimization. The proposed method is the first t