An open torque-controlled modular robot architecture for legged locomotion research
We present a new open-source torque-controlled legged robot system, with a low-cost and
low-complexity actuator module at its core. It consists of a high-torque brushless DC motor …
low-complexity actuator module at its core. It consists of a high-torque brushless DC motor …
Variable impedance control in end-effector space: An action space for reinforcement learning in contact-rich tasks
Reinforcement Learning (RL) of contact-rich manipulation tasks has yielded impressive
results in recent years. While many studies in RL focus on varying the observation space or …
results in recent years. While many studies in RL focus on varying the observation space or …
Learning variable impedance control for contact sensitive tasks
M Bogdanovic, M Khadiv… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
Reinforcement learning algorithms have shown great success in solving different problems
ranging from playing video games to robotics. However, they struggle to solve delicate …
ranging from playing video games to robotics. However, they struggle to solve delicate …
Learning contact dynamics using physically structured neural networks
A Hochlehnert, A Terenin… - International …, 2021 - proceedings.mlr.press
Learning physically structured representations of dynamical systems that include contact
between different objects is an important problem for learning-based approaches in robotics …
between different objects is an important problem for learning-based approaches in robotics …
Leveraging randomized smoothing for optimal control of nonsmooth dynamical systems
Optimal control (OC) algorithms such as differential dynamic programming (DDP) take
advantage of the derivatives of the dynamics to control physical systems efficiently. Yet …
advantage of the derivatives of the dynamics to control physical systems efficiently. Yet …
Implicit kinematic policies: Unifying joint and cartesian action spaces in end-to-end robot learning
Action representation is an important yet often overlooked aspect in end-to-end robot
learning with deep networks. Choosing one action space over another (eg target joint …
learning with deep networks. Choosing one action space over another (eg target joint …
Locomotion planning through a hybrid bayesian trajectory optimization
Locomotion planning for legged systems requires reasoning about suitable contact
schedules. The contact sequence and timings constitute a hybrid dynamical system and …
schedules. The contact sequence and timings constitute a hybrid dynamical system and …
Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contacts
The simulation of multibody systems with frictional contacts is a fundamental tool for many
fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are …
fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are …
Robust control design for a hopping robot in flight phase using the sliding mode approach
GN Souza, TR Oliveira, AC Leite - 2021 IEEE 17th International …, 2021 - ieeexplore.ieee.org
Nowadays, legged mobile robots have increased the interest of the robotics community
because such mechanisms have higher versatility and autonomy compared to wheeled …
because such mechanisms have higher versatility and autonomy compared to wheeled …
Risk Aware Optimal Control for Robust Contact Interactions
B Hammoud - 2023 - search.proquest.com
Modern robotics systems still lack the ability to operate robustly in uncontrolled human
centric environments, leading to research that restricts any operations mostly into controlled …
centric environments, leading to research that restricts any operations mostly into controlled …