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Markus Giftthaler

6 accepted papers

2020

Learning and Sequencing of Object-Centric Manipulation Skills for Industrial Tasks

Leonel Rozo, Meng Guo, Andras G. Kupcsik, Marco Todescato, Philipp Schillinger, Markus Giftthaler +5
IROS 2020poster

Enabling robots to quickly learn manipulation skills is an important, yet challenging problem. Such manipulation skills should be flexible, e.g., be able adapt to the current workspace configuration. Furthermore, to accomplish complex manipulation tasks, robots should be able to sequence several ski…

Cited by 27Source ↗Scholar ↗
2020

Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG

Sabrina Hoppe, Markus Giftthaler, Robert Krug, Marc Toussaint
IROS 2020poster

Recent progress in deep reinforcement learning has enabled agents to autonomously learn complex control strategies from scratch. Model-free approaches like Deep Deterministic Policy Gradients (DDPG) seem promising for applications with intricate dynamics, such as contact-rich manipulation tasks. How…

Cited by 13Source ↗Scholar ↗
2018

A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control

Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli, Moritz Diehl
IROS 2018poster

This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple shooting variants, combining advantages like straightforward initialization and a closed-loop forward integration. All algorithms have…

Cited by 117Source ↗Scholar ↗
2018

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring +2
RA-L 2018

In this letter, we present a whole-body nonlinear model predictive control approach for rigid body systems subject to contacts. We use a full-dynamic system model which also includes explicit contact dynamics. Therefore, contact locations, sequences, and timings are not prespecified but optimized by

Cited by 292Source ↗Scholar ↗
2017

Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control

Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli
ICRA 2017poster

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic feedback controllers by solving a Constrained Sequential Linear…

Cited by 106Source ↗Scholar ↗
2016

Autonomous repositioning and localization of an in situ fabricator

Timothy Sandy, Markus Giftthaler, Kathrin Dörfler, Matthias Kohler, Jonas Buchli
ICRA 2016

Despite the prevalent use of robotic technologies in industrial manufacturing, their use on building construction sites is still very limited. This is mainly due to the unstructured nature of construction sites and the fact that the structures built must be larger than the machines which build them.

Cited by 57Source ↗Scholar ↗