Teguh Lembono — accepted AI-conference papers

2021

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Lembono, Guilhem Saurel, Olivier Stasse +6

ICRA 2021poster

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balance in front of strong external perturbations…

Cited by 63 Source ↗Scholar ↗

2020

Variational Inference with Mixture Model Approximation for Applications in Robotics

Emmanuel Pignat, Teguh Lembono, Sylvain Calinon

ICRA 2020poster

We propose to formulate the problem of representing a distribution of robot configurations (e.g. joint angles) as that of approximating a product of experts. Our approach uses variational inference, a popular method in Bayesian computation, which has several practical advantages over sampling-based…

Cited by 5 Source ↗Scholar ↗