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2020 – today
- 2024
[c74]Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti:
Risk-Sensitive Extended Kalman Filter. ICRA 2024: 10450-10456- [c73]Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti:
Force Feedback Model-Predictive Control via Online Estimation. ICRA 2024: 11503-11509 - [c72]Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini:
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. UR 2024: 747-754 - [i68]Adithya Kumar Chinnakkonda Ravi, Victor Dhédin, Armand Jordana, Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti, Bernhard Schölkopf, Majid Khadiv:
Efficient Search and Learning for Agile Locomotion on Stepping Stones. CoRR abs/2403.03639 (2024) - [i67]Joaquim Ortiz de Haro, Wolfgang Hönig, Valentin N. Hartmann, Marc Toussaint, Ludovic Righetti:
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization. CoRR abs/2403.10745 (2024) - [i66]Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard:
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. CoRR abs/2409.13678 (2024) - [i65]Jianghan Zhang, Armand Jordana, Ludovic Righetti:
Accelerated gradient descent for high frequency Model Predictive Control. CoRR abs/2409.18327 (2024) - 2023
- [j32]Avadesh Meduri
, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. IEEE Trans. Robotics 39(2): 905-922 (2023) - [c71]Wenyu Han, Haoran Wu, Eisuke Hirota, Alexander Gao, Lerrel Pinto, Ludovic Righetti, Chen Feng:
Learning Simultaneous Navigation and Construction in Grid Worlds. ICLR 2023 - [c70]Avadesh Meduri, Huaijiang Zhu, Armand Jordana, Ludovic Righetti:
MPC with Sensor-Based Online Cost Adaptation. ICRA 2023: 996-1002 - [c69]Kai Pfeiffer, Yuze Jia, Mingsheng Yin, Akshaj Kumar Veldanda, Yaqi Hu, Amee Trivedi, Jeff Zhang, Siddharth Garg, Elza Erkip, Sundeep Rangan, Ludovic Righetti:
Path Planning Under Uncertainty to Localize mmWave Sources. ICRA 2023: 3461-3467 - [c68]Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Maren Bennewitz, Majid Khadiv:
On the Use of Torque Measurement in Centroidal State Estimation. ICRA 2023: 9931-9937 - [c67]Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler:
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. ICRA 2023: 9966-9972 - [c66]Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti:
Efficient Object Manipulation Planning with Monte Carlo Tree Search. IROS 2023: 10628-10635 - [c65]Majid Khadiv, Avadesh Meduri, Huaijiang Zhu, Ludovic Righetti, Bernhard Schölkopf:
Learning Locomotion Skills from MPC in Sensor Space. L4DC 2023: 1218-1230 - [i64]Kai Pfeiffer, Yuze Jia, Mingsheng Yin, Akshaj Kumar Veldanda, Yaqi Hu, Amee Trivedi, Jeff Zhang, Siddharth Garg, Elza Erkip, Sundeep Rangan, Ludovic Righetti:
Path Planning Under Uncertainty to Localize mmWave Sources. CoRR abs/2303.03739 (2023) - [i63]Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti:
Risk-Sensitive Extended Kalman Filter. CoRR abs/2305.11573 (2023) - [i62]Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti:
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. CoRR abs/2309.04469 (2023) - 2022
- [j31]Armand Jordana, Bilal Hammoud, Justin Carpentier, Ludovic Righetti:
Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation. IEEE Control. Syst. Lett. 6: 3241-3246 (2022) - [j30]Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti:
Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. Frontiers Robotics AI 9 (2022) - [j29]Mingsheng Yin, Akshaj Kumar Veldanda, Amee Trivedi, Jeff Zhang, Kai Pfeiffer, Yaqi Hu, Siddharth Garg, Elza Erkip, Ludovic Righetti, Sundeep Rangan:
Millimeter Wave Wireless Assisted Robot Navigation With Link State Classification. IEEE Open J. Commun. Soc. 3: 493-507 (2022) - [j28]Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti:
Robust Walking Based on MPC With Viability Guarantees. IEEE Trans. Robotics 38(4): 2389-2404 (2022) - [c64]Bilal Hammoud, Armand Jordana, Ludovic Righetti:
iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations. ACC 2022: 3550-3557 - [c63]Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti:
On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. Humanoids 2022: 512-517 - [c62]Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti:
Introducing Force Feedback in Model Predictive Control. IROS 2022: 13379-13385 - [c61]Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti:
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. ISRR 2022: 420-435 - [c60]Julian Viereck, Avadesh Meduri, Ludovic Righetti:
ValueNetQP: Learned One-step Optimal Control for Legged Locomotion. L4DC 2022: 931-942 - [i61]Julian Viereck, Avadesh Meduri, Ludovic Righetti:
ValueNetQP: Learned one-step optimal control for legged locomotion. CoRR abs/2201.04090 (2022) - [i60]Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. CoRR abs/2201.07601 (2022) - [i59]Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Majid Khadiv:
On the Use of Torque Measurement in Centroidal State Estimation. CoRR abs/2202.12574 (2022) - [i58]Sarah Bechtle, Ludovic Righetti, Franziska Meier:
Model Based Meta Learning of Critics for Policy Gradients. CoRR abs/2204.02210 (2022) - [i57]Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti:
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. CoRR abs/2205.13264 (2022) - [i56]Huaijiang Zhu, Ludovic Righetti:
Efficient Object Manipulation Planning with Monte Carlo Tree Search. CoRR abs/2206.09023 (2022) - [i55]Avadesh Meduri, Huaijiang Zhu, Armand Jordana, Ludovic Righetti:
MPC with Sensor-Based Online Cost Adaptation. CoRR abs/2209.09451 (2022) - [i54]Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini:
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. CoRR abs/2209.15566 (2022) - [i53]Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler:
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. CoRR abs/2210.02127 (2022) - 2021
- [j27]Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe:
Robot Learning With Crash Constraints. IEEE Robotics Autom. Lett. 6(2): 1439-1446 (2021) - [j26]Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti:
Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control. IEEE Robotics Autom. Lett. 6(2): 2349-2356 (2021) - [j25]Bilal Hammoud, Majid Khadiv, Ludovic Righetti:
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. IEEE Robotics Autom. Lett. 6(3): 4766-4773 (2021) - [j24]Ludovic Righetti, Jonas Buchli, Auke Jan Ijspeert:
Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators. SIAM J. Appl. Dyn. Syst. 20(4): 1985-2012 (2021) - [j23]Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti:
Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics. IEEE Trans. Robotics 37(5): 1661-1679 (2021) - [c59]Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti:
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. HUMANOIDS 2021: 61-68 - [c58]Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv:
A unified framework for walking and running of bipedal robots. ICAR 2021: 396-403 - [c57]Avadesh Meduri, Majid Khadiv, Ludovic Righetti:
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. ICRA 2021: 2099-2105 - [c56]Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti:
Leveraging Forward Model Prediction Error for Learning Control. ICRA 2021: 4445-4451 - [c55]Julian Viereck, Ludovic Righetti:
Learning a Centroidal Motion Planner for Legged Locomotion. ICRA 2021: 4905-4911 - [c54]Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti:
High-Frequency Nonlinear Model Predictive Control of a Manipulator. ICRA 2021: 7330-7336 - [c53]Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS 2021: 1658-1665 - [i52]Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete:
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts. CoRR abs/2101.06846 (2021) - [i51]Wenyu Han, Chen Feng, Haoran Wu, Alexander Gao, Armand Jordana, Dong Liu, Lerrel Pinto, Ludovic Righetti:
Simultaneous Navigation and Construction Benchmarking Environments. CoRR abs/2103.16732 (2021) - [i50]John R. Rebula, Stefan Schaal, James M. Finley, Ludovic Righetti:
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. CoRR abs/2104.12042 (2021) - [i49]Armand Jordana, Justin Carpentier, Ludovic Righetti:
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting. CoRR abs/2106.11712 (2021) - [i48]Kai Pfeiffer, Adrien Escande, Ludovic Righetti:
NIPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs. CoRR abs/2106.13602 (2021) - [i47]Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti:
Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration. CoRR abs/2107.06629 (2021) - [i46]Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR abs/2108.01797 (2021) - [i45]Kai Pfeiffer, Ludovic Righetti:
NIPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control. CoRR abs/2109.03338 (2021) - [i44]Bilal Hammoud, Armand Jordana, Ludovic Righetti:
iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations. CoRR abs/2110.06700 (2021) - [i43]Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv:
A unified framework for walking and running of bipedal robots. CoRR abs/2110.09172 (2021) - [i42]Mingsheng Yin, Akshaj Kumar Veldanda, Amee Trivedi, Jeff Zhang, Kai Pfeiffer, Yaqi Hu, Siddharth Garg, Elza Erkip, Ludovic Righetti, Sundeep Rangan:
Millimeter Wave Wireless-Assisted Robotic Navigation with Link State Classification. CoRR abs/2110.14789 (2021) - 2020
- [j22]Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson:
Robust Humanoid Contact Planning With Learned Zero- and One-Step Capturability Prediction. IEEE Robotics Autom. Lett. 5(2): 2451-2458 (2020) - [j21]Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti:
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. IEEE Robotics Autom. Lett. 5(2): 3650-3657 (2020) - [j20]Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti:
Learning Variable Impedance Control for Contact Sensitive Tasks. IEEE Robotics Autom. Lett. 5(4): 6129-6136 (2020) - [j19]Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti:
Walking Control Based on Step Timing Adaptation. IEEE Trans. Robotics 36(3): 629-643 (2020) - [c52]Manuel Wuthrich, Felix Widmaier, Felix Grimminger, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer:
TriFinger: An Open-Source Robot for Learning Dexterity. CoRL 2020: 1871-1882 - [c51]Sarah Bechtle, Artem Molchanov, Yevgen Chebotar, Edward Grefenstette, Ludovic Righetti, Gaurav S. Sukhatme, Franziska Meier:
Meta Learning via Learned Loss. ICPR 2020: 4161-4168 - [c50]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020: 2536-2542 - [c49]Diego Agudelo-España, Andrii Zadaianchuk, Philippe Wenk, Aditya Garg, Joel Akpo, Felix Grimminger, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Georg Martius, Andreas Krause, Bernhard Schölkopf, Stefan Bauer, Manuel Wüthrich:
A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models. ICRA 2020: 8151-8157 - [c48]Huaijiang Zhu, Manali Sharma, Kai Pfeiffer, Marco Mezzavilla, Jia Shen, Sundeep Rangan, Ludovic Righetti:
Enabling Remote Whole-Body Control with 5G Edge Computing. IROS 2020: 3553-3560 - [i41]Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti:
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. CoRR abs/2005.07555 (2020) - [i40]Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer:
TriFinger: An Open-Source Robot for Learning Dexterity. CoRR abs/2008.03596 (2020) - [i39]Huaijiang Zhu, Manali Sharma, Kai Pfeiffer, Marco Mezzavilla, Jia Shen, Sundeep Rangan, Ludovic Righetti:
Enabling Remote Whole-Body Control with 5G Edge Computing. CoRR abs/2008.08243 (2020) - [i38]Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti:
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. CoRR abs/2010.01215 (2020) - [i37]Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti:
Robust walking based on MPC with viability-based feasibility guarantees. CoRR abs/2010.04514 (2020) - [i36]Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti:
Bipedal Walking Control using Variable Horizon MPC. CoRR abs/2010.08198 (2020) - [i35]Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe:
Robot Learning with Crash Constraints. CoRR abs/2010.08669 (2020) - [i34]Avadesh Meduri, Majid Khadiv, Ludovic Righetti:
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. CoRR abs/2010.14834 (2020) - [i33]Julian Viereck, Ludovic Righetti:
Learning a Centroidal Motion Planner for Legged Locomotion. CoRR abs/2011.02818 (2020) - [i32]Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti:
Leveraging Forward Model Prediction Error for Learning Control. CoRR abs/2011.03859 (2020) - [i31]Bilal Hammoud, Majid Khadiv, Ludovic Righetti:
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. CoRR abs/2011.04684 (2020)
2010 – 2019
- 2019
- [j18]John R. Rebula, Stefan Schaal, James M. Finley, Ludovic Righetti:
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. IEEE Robotics Autom. Lett. 4(4): 4531-4538 (2019) - [j17]Lee E. Clement, Valentin Peretroukhin, Matthew Giamou, John J. Leonard, Hadas Kress-Gazit, Jonathan P. How, Michael Milford, Oliver Brock, Ryan Gariepy, Nicholas Roy, Hallie Siegel, Ludovic Righetti, Aude Billard, Jonathan Kelly:
Where Do We Go From Here? Debates on the Future of Robotics Research at ICRA 2019 [From the Field]. IEEE Robotics Autom. Mag. 26(3): 7-10 (2019) - [j16]Ludovic Righetti, Raj Madhavan, Raja Chatila:
Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. 26(3): 11-13 (2019) - [j15]Timothy Bretl, Ludovic Righetti, Raj Madhavan:
Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. 26(4): 8-13 (2019) - [j14]Ludovic Righetti, Tomomichi Sugihara, Giorgio Metta, Katsu Yamane:
Growing the Humanoid Robotics Community [TC Spotlight]. IEEE Robotics Autom. Mag. 26(4): 136-137 (2019) - [c47]Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier:
Curious iLQR: Resolving Uncertainty in Model-based RL. CoRL 2019: 162-171 - [c46]Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti:
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. Humanoids 2019: 170-177 - [c45]Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg:
Leveraging Contact Forces for Learning to Grasp. ICRA 2019: 3615-3621 - [c44]Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson:
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. ICRA 2019: 5280-5286 - [c43]Miroslav Bogdanovic, Ludovic Righetti:
Learning to Explore in Motion and Interaction Tasks. IROS 2019: 2686-2692 - [i30]Sarah Bechtle, Akshara Rai, Yixin Lin, Ludovic Righetti, Franziska Meier:
Curious iLQR: Resolving Uncertainty in Model-based RL. CoRR abs/1904.06786 (2019) - [i29]Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian, Jia-Jie Zhu, Ludovic Righetti:
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning. CoRR abs/1906.03684 (2019) - [i28]Yevgen Chebotar, Artem Molchanov, Sarah Bechtle, Ludovic Righetti, Franziska Meier, Gaurav S. Sukhatme:
Meta-Learning via Learned Loss. CoRR abs/1906.05374 (2019) - [i27]Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti:
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. CoRR abs/1907.04616 (2019) - [i26]Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti:
Learning Variable Impedance Control for Contact Sensitive Tasks. CoRR abs/1907.07500 (2019) - [i25]Miroslav Bogdanovic, Ludovic Righetti:
Learning to Explore in Motion and Interaction Tasks. CoRR abs/1908.03731 (2019) - [i24]Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson:
Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction. CoRR abs/1909.09233 (2019) - [i23]Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti:
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. CoRR abs/1910.00093 (2019) - 2018
- [j13]Mazen Al Borno, Ludovic Righetti, Michael J. Black, Scott L. Delp, Eugene Fiume, Javier Romero:
Robust Physics-based Motion Retargeting with Realistic Body Shapes. Comput. Graph. Forum 37(8): 81-92 (2018) - [j12]Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti:
Learning a Structured Neural Network Policy for a Hopping Task. IEEE Robotics Autom. Lett. 3(4): 4092-4099 (2018) - [j11]Ludovic Righetti, Q.-C. Pham, Raj Madhavan, Raja Chatila:
Lethal Autonomous Weapon Systems [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. 25(1): 123-126 (2018) - [j10]Q.-C. Pham, Raj Madhavan, Ludovic Righetti, W. Smart, Raja Chatila:
The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. 25(2): 126-128 (2018) - [c42]Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Righetti:
Learning Task-Specific Dynamics to Improve Whole-Body Control. Humanoids 2018: 280-283 - [c41]Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti:
On Time Optimization of Centroidal Momentum Dynamics. ICRA 2018: 1-7 - [c40]Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Unsupervised Contact Learning for Humanoid Estimation and Control. ICRA 2018: 411-417 - [c39]Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
An MPC Walking Framework with External Contact Forces. ICRA 2018: 1785-1790 - [i22]Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Righetti:
Learning Task-Specific Dynamics to Improve Whole-Body Control. CoRR abs/1803.01978 (2018) - [i21]Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg:
Leveraging Contact Forces for Learning to Grasp. CoRR abs/1809.07004 (2018) - [i20]Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson:
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. CoRR abs/1810.13082 (2018) - 2017
- [j9]Federico L. Moro, Luis Sentis, Jaeheung Park, Christopher G. Atkeson, Michael Gienger, Ambarish Goswami, Shuuji Kajita, Oussama Khatib, James Kuffner, David E. Orin, Christian Ott, Jerry E. Pratt, Ludovic Righetti, Bruno Siciliano, Russ Tedrake, Eiichi Yoshida:
Whole-Body Control [TC Spotlight]. IEEE Robotics Autom. Mag. 24(3): 12-14 (2017) - [p1]Ludovic Righetti, Alexander Herzog:
Momentum-Centered Control of Contact Interactions. Geometric and Numerical Foundations of Movements 2017: 339-359 - [i19]Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints. CoRR abs/1701.08179 (2017) - [i18]Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti:
A robust walking controller based on online step location and duration optimization for bipedal locomotion. CoRR abs/1704.01271 (2017) - [i17]Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righetti:
Pattern Generation for Walking on Slippery Terrains. CoRR abs/1708.01866 (2017) - [i16]Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Unsupervised Contact Learning for Humanoid Estimation and Control. CoRR abs/1709.07472 (2017) - [i15]Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti:
On Time Optimisation of Centroidal Momentum Dynamics. CoRR abs/1709.09265 (2017) - [i14]Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti:
Learning a Structured Neural Network Policy for a Hopping Task. CoRR abs/1710.00022 (2017) - [i13]Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
A MPC Walking Framework With External Contact Forces. CoRR abs/1712.09308 (2017) - 2016
- [j8]Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti:
Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid. Auton. Robots 40(3): 473-491 (2016) - [c38]Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti:
Step timing adjustment: A step toward generating robust gaits. Humanoids 2016: 35-42 - [c37]Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Balancing and walking using full dynamics LQR control with contact constraints. Humanoids 2016: 63-68 - [c36]Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti:
A convex model of humanoid momentum dynamics for multi-contact motion generation. Humanoids 2016: 842-849 - [c35]Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti:
Inertial sensor-based humanoid joint state estimation. ICRA 2016: 1825-1831 - [c34]Alexander Herzog, Stefan Schaal, Ludovic Righetti:
Structured contact force optimization for kino-dynamic motion generation. IROS 2016: 2703-2710 - [c33]Brahayam Pontón, Stefan Schaal, Ludovic Righetti:
On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions. WAFR 2016: 784-799 - [i12]Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti:
Inertial Sensor-Based Humanoid Joint State Estimation. CoRR abs/1602.05134 (2016) - [i11]Brahayam Ponton, Stefan Schaal, Ludovic Righetti:
Risk sensitive nonlinear optimal control with measurement uncertainty. CoRR abs/1605.04344 (2016) - [i10]Alexander Herzog, Stefan Schaal, Ludovic Righetti:
Structured contact force optimization for kino-dynamic motion generation. CoRR abs/1605.08571 (2016) - [i9]Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti:
A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation. CoRR abs/1607.08644 (2016) - [i8]Majid Khadiv, Sébastien Kleff, Alexander Herzog, S. Ali A. Moosavian, Stefan Schaal, Ludovic Righetti:
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment. CoRR abs/1609.09822 (2016) - [i7]Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti:
Step Timing Adjustment: A Step toward Generating Robust Gaits. CoRR abs/1610.02377 (2016) - 2015
- [c32]Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti:
Humanoid momentum estimation using sensed contact wrenches. Humanoids 2015: 556-563 - [c31]Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Trajectory generation for multi-contact momentum control. Humanoids 2015: 874-880 - [i6]Manuel Wüthrich, Peter Pastor, Ludovic Righetti, Aude Billard, Stefan Schaal:
Probabilistic Depth Image Registration incorporating Nonvisual Information. CoRR abs/1504.07857 (2015) - [i5]Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Trajectory generation for multi-contact momentum-control. CoRR abs/1507.04380 (2015) - [i4]Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti:
Humanoid Momentum Estimation Using Sensed Contact Wrenches. CoRR abs/1507.04401 (2015) - 2014
- [j7]Ludovic Righetti, Mrinal Kalakrishnan, Peter Pastor, Jonathan Binney, Jonathan Kelly, Randolph Voorhies, Gaurav S. Sukhatme, Stefan Schaal:
An autonomous manipulation system based on force control and optimization. Auton. Robots 36(1-2): 11-30 (2014) - [j6]Alexander Herzog, Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti, Jeannette Bohg, Tamim Asfour, Stefan Schaal:
Learning of grasp selection based on shape-templates. Auton. Robots 36(1-2): 51-65 (2014) - [c30]Sean Mason, Ludovic Righetti, Stefan Schaal:
Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting. Humanoids 2014: 374-379 - [c29]Marc Toussaint, Nathan D. Ratliff, Jeannette Bohg, Ludovic Righetti, Peter Englert, Stefan Schaal:
Dual execution of optimized contact interaction trajectories. IROS 2014: 47-54 - [c28]Nicholas Rotella, Michael Blösch, Ludovic Righetti, Stefan Schaal:
State estimation for a humanoid robot. IROS 2014: 952-958 - [c27]Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal:
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. IROS 2014: 981-988 - [i3]Nicholas Rotella, Michael Blösch, Ludovic Righetti, Stefan Schaal:
State Estimation for a Humanoid Robot. CoRR abs/1402.5450 (2014) - [i2]Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti:
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid. CoRR abs/1410.7284 (2014) - 2013
- [j5]Ludovic Righetti, Jonas Buchli, Michael N. Mistry, Mrinal Kalakrishnan, Stefan Schaal:
Optimal distribution of contact forces with inverse-dynamics control. Int. J. Robotics Res. 32(3): 280-298 (2013) - [j4]Robert D. Gregg, Ludovic Righetti:
Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation. IEEE Trans. Autom. Control. 58(10): 2679-2685 (2013) - [c26]Mrinal Kalakrishnan, Peter Pastor, Ludovic Righetti, Stefan Schaal:
Learning objective functions for manipulation. ICRA 2013: 1331-1336 - [c25]Peter Pastor, Mrinal Kalakrishnan, Jonathan Binney, Jonathan Kelly, Ludovic Righetti, Gaurav S. Sukhatme, Stefan Schaal:
Learning task error models for manipulation. ICRA 2013: 2612-2618 - [c24]Marco Hutter, Michael Blösch, Jonas Buchli, Claudio Semini, Stéphane Bazeille, Ludovic Righetti, Jeannette Bohg:
AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. SSRR 2013: 1-4 - [i1]Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal:
Momentum-based Balance Control for Torque-controlled Humanoids. CoRR abs/1305.2042 (2013) - 2012
- [c23]Johannes Ernesti, Ludovic Righetti, Martin Do, Tamim Asfour, Stefan Schaal:
Encoding of periodic and their transient motions by a single dynamic movement primitive. Humanoids 2012: 57-64 - [c22]Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti, Stefan Schaal:
Towards Associative Skill Memories. Humanoids 2012: 309-315 - [c21]Ludovic Righetti, Stefan Schaal:
Quadratic programming for inverse dynamics with optimal distribution of contact forces. Humanoids 2012: 538-543 - [c20]Mrinal Kalakrishnan, Ludovic Righetti, Peter Pastor, Stefan Schaal:
Learning Force Control Policies for Compliant Robotic Manipulation. ICML 2012 - [c19]Alexander Herzog, Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti, Tamim Asfour, Stefan Schaal:
Template-based learning of grasp selection. ICRA 2012: 2379-2384 - [c18]Manuel Wuthrich, Peter Pastor, Ludovic Righetti, Aude Billard, Stefan Schaal:
Probabilistic depth image registration incorporating nonvisual information. ICRA 2012: 3637-3644 - 2011
- [j3]Sarah Degallier, Ludovic Righetti, Sébastien Gay, Auke Jan Ijspeert:
Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives. Auton. Robots 31(2-3): 155-181 (2011) - [c17]Ludovic Righetti, Jonas Buchli, Michael N. Mistry, Stefan Schaal:
Control of legged robots with optimal distribution of contact forces. Humanoids 2011: 318-324 - [c16]Ludovic Righetti, Jonas Buchli, Michael N. Mistry, Stefan Schaal:
Inverse dynamics control of floating-base robots with external constraints: A unified view. ICRA 2011: 1085-1090 - [c15]Freek Stulp, Evangelos A. Theodorou, Mrinal Kalakrishnan, Peter Pastor, Ludovic Righetti, Stefan Schaal:
Learning motion primitive goals for robust manipulation. IROS 2011: 325-331 - [c14]Peter Pastor, Ludovic Righetti, Mrinal Kalakrishnan, Stefan Schaal:
Online movement adaptation based on previous sensor experiences. IROS 2011: 365-371 - [c13]Mrinal Kalakrishnan, Ludovic Righetti, Peter Pastor, Stefan Schaal:
Learning force control policies for compliant manipulation. IROS 2011: 4639-4644 - [c12]Michael N. Mistry, Ludovic Righetti:
Operational Space Control of Constrained and Underactuated Systems. Robotics: Science and Systems 2011 - 2010
- [c11]Robert D. Gregg, Ludovic Righetti, Jonas Buchli, Stefan Schaal:
Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. Humanoids 2010: 1-7
2000 – 2009
- 2008
- [b1]Ludovic Righetti:
Control of legged locomotion using dynamical systems - design methods and adaptive frequency oscillators. EPFL, Switzerland, 2008 - [c10]Ludovic Righetti, Auke Jan Ijspeert:
Pattern generators with sensory feedback for the control of quadruped locomotion. ICRA 2008: 819-824 - [c9]Loic Matthey, Ludovic Righetti, Auke Jan Ijspeert:
Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots. IROS 2008: 1860-1865 - 2007
- [j2]Nikolaos G. Tsagarakis, Giorgio Metta, Giulio Sandini, David Vernon, Ricardo Beira, Francesco Becchi, Ludovic Righetti, José Santos-Victor, Auke Jan Ijspeert, Maria Chiara Carrozza, Darwin G. Caldwell:
iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research. Adv. Robotics 21(10): 1151-1175 (2007) - [c8]Sarah Degallier, Ludovic Righetti, Auke Jan Ijspeert:
Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach. IROS 2007: 2047-2052 - [c7]Nikolaos G. Tsagarakis, Francesco Becchi, Ludovic Righetti, Auke Jan Ijspeert, Darwin G. Caldwell:
Lower body realization of the baby humanoid - 'iCub'. IROS 2007: 3616-3622 - 2006
- [j1]Jonas Buchli, Ludovic Righetti, Auke Jan Ijspeert:
Engineering entrainment and adaptation in limit cycle systems. Biol. Cybern. 95(6): 645-664 (2006) - [c6]Sarah Degallier, Cristina P. Santos, Ludovic Righetti, Auke Jan Ijspeert:
Movement generation using dynamical systems : a humanoid robot performing a drumming task. Humanoids 2006: 512-517 - [c5]Ludovic Righetti, Auke Jan Ijspeert:
Programmable Central Pattern Generators: an Application to Biped Locomotion Control. ICRA 2006: 1585-1590 - [c4]Ludovic Righetti, Auke Jan Ijspeert:
Design Methodologies for Central Pattern Generators: An Application to Crawling Humanoids. Robotics: Science and Systems 2006 - 2005
- [c3]Jonas Buchli, Ludovic Righetti, Auke Jan Ijspeert:
A Dynamical Systems Approach to Learning: A Frequency-Adaptive Hopper Robot. ECAL 2005: 210-220 - 2004
- [c2]Miljan Vuletic, Ludovic Righetti, Laura Pozzi, Paolo Ienne:
Operating System Support for Interface Virtualisation of Reconfigurable Coprocessors. DATE 2004: 748 - 2003
- [c1]Ludovic Righetti, Solaiman Shokur, Mathieu S. Caparrere:
Evolution of Fault-Tolerant Self-Replicating Structures. ECAL 2003: 278-288
Coauthor Index
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