Sergi Martinez

2 accepted papers

2025

Endpoint-Explicit Differential Dynamic Programming via Exact Resolution

Maria Parilli, Sergi Martinez, Carlos Mastalli

ICRA 2025

We introduce a novel method for handling endpoint constraints in constrained differential dynamic programming (DDP). Unlike existing approaches, our method guarantees quadratic convergence and is exact, effectively managing rank deficiencies in both endpoint and stagewise equality constraints. It is

Cited by 2 Source ↗Scholar ↗

2025

Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots

Sergi Martinez, Robert J. Griffin, Carlos Mastalli

RA-L 2025

Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve these large and challenging optimization problems efficiently. To tackle this, we (i)

Cited by 3 Source ↗Scholar ↗