Jonas Buchli

SIAM J. Appl. Dyn. Syst., 2021

Shaking the foundations: delusions in sequence models for interaction and control.

[BibT_eX]

[DOI]

CoRR, 2021

2020

Local Search for Policy Iteration in Continuous Control.

[BibT_eX]

[DOI]

Jost Tobias Springenberg

CoRR, 2020

2019

End-Effector Pose Correction for Versatile Large-Scale Multi-Robotic Systems.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

ConFusion: Sensor Fusion for Complex Robotic Systems Using Nonlinear Optimization.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Value constrained model-free continuous control.

[BibT_eX]

[DOI]

CoRR, 2019

Adaptive Unscented Kalman Filter-based Disturbance Rejection With Application to High Precision Hydraulic Robotic Control.

[BibT_eX]

[DOI]

Peng Lu

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics.

[BibT_eX]

[DOI]

Jost Tobias Springenberg

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Object-Based Visual-Inertial Tracking for Additive Fabrication.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds.

[BibT_eX]

[DOI]

Markus Stäuble

Markus Giftthaler

Carmine Dario Bellicoso

IEEE Robotics Autom. Lett., 2018

Contact Invariant Model Learning for Legged Robot Locomotion.

[BibT_eX]

[DOI]

Ruben Grandia

IEEE Robotics Autom. Lett., 2018

ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization.

[BibT_eX]

[DOI]

Simon Kerscher

CoRR, 2018

Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies.

[BibT_eX]

[DOI]

Auton. Robots, 2018

The control toolbox - An open-source C++ library for robotics, optimal and model predictive control.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Simulation, 2018

Nonlinear Disturbance Attenuation Control of Hydraulic Robotics.

[BibT_eX]

[DOI]

Peng Lu

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2018

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

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Accurate and Adaptive in Situ Fabrication of an Undulated Wall Using an on-Board Visual Sensing System.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

Optimal and Learning Control for Autonomous Robots.

[BibT_eX]

[DOI]

CoRR, 2017

Mobile Robotic Fabrication at 1: 1 scale: the In situ Fabricator.

[BibT_eX]

[DOI]

CoRR, 2017

Automatic differentiation of rigid body dynamics for optimal control and estimation.

[BibT_eX]

[DOI]

Adv. Robotics, 2017

Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIII, 2017

Dynamically decoupling base and end-effector motion for mobile manipulation using visual-inertial sensing.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Robust whole-body motion control of legged robots.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Online walking motion and foothold optimization for quadruped locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Design, development and experimental assessment of a robotic end-effector for non-standard concrete applications.

[BibT_eX]

[DOI]

Nitish Kumar

Norman Hack

Kathrin Dörfler

Alexander Nikolas Walzer

Gonzalo Javier Rey

Fabio Gramazio

Matthias Daniel Kohler

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

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

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

An efficient optimal planning and control framework for quadrupedal locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

A projection approach to equality constrained iterative linear quadratic optimal control.

[BibT_eX]

[DOI]

Markus Giftthaler

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

Real-time motion planning of legged robots: A model predictive control approach.

[BibT_eX]

[DOI]

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

Evaluating Direct Transcription and Nonlinear Optimization Methods for Robot Motion Planning.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2016

Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems.

[BibT_eX]

[DOI]

CoRR, 2016

Fast derivatives of rigid body dynamics for control, optimization and estimation.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Simulation, 2016

Numerical search for local (partial) differential flatness.

[BibT_eX]

[DOI]

Carmelo Sferrazza

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Acceleration-based transparency control framework for wearable robots.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

On reachability sets for optimal feedback controllers: Monitoring the approach of a region of attraction.

[BibT_eX]

[DOI]

Christof Vömel

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Autonomous repositioning and localization of an in situ fabricator.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Efficient whole-body trajectory optimization using contact constraint relaxation.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

An open source, fiducial based, visual-inertial motion capture system.

[BibT_eX]

[DOI]

Michael Bloesch

Proceedings of the 19th International Conference on Information Fusion, 2016

Coupled systems analyses for high-performance robust force control of wearable robots.

[BibT_eX]

[DOI]

Proceedings of the 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016

2015

Model-Based Hydraulic Impedance Control for Dynamic Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2015

Towards versatile legged robots through active impedance control.

[BibT_eX]

[DOI]

Victor Barasuol

Int. J. Robotics Res., 2015

Policy Learning with an Efficient Black-Box Optimization Algorithm.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2015

Projection based whole body motion planning for legged robots.

[BibT_eX]

[DOI]

CoRR, 2015

An Open Source, Fiducial Based, Visual-Inertial State Estimation System.

[BibT_eX]

[DOI]

Michael Blösch

CoRR, 2015

Risk Sensitive, Nonlinear Optimal Control: Iterative Linear Exponential-Quadratic Optimal Control with Gaussian Noise.

[BibT_eX]

[DOI]

CoRR, 2015

Event-based estimation and control for remote robot operation with reduced communication.

[BibT_eX]

[DOI]

Sebastian Trimpe

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Unified motion control for dynamic quadrotor maneuvers demonstrated on slung load and rotor failure tasks.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Towards Industrial Robot Learning from Demonstration.

[BibT_eX]

[DOI]

Proceedings of the 3rd International Conference on Human-Agent Interaction, 2015

2014

Quadruped robot trotting over irregular terrain assisted by stereo-vision.

[BibT_eX]

[DOI]

Intell. Serv. Robotics, 2014

Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops.

[BibT_eX]

[DOI]

Michele Focchi

Gustavo A. Medrano-Cerda

CoRR, 2014

Learning of closed-loop motion control.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

ROCK∗ - Efficient black-box optimization for policy learning.

[BibT_eX]

[DOI]

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

2013

From dynamic movement primitives to associative skill memories.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2013

Optimal distribution of contact forces with inverse-dynamics control.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2013

A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms

[BibT_eX]

[DOI]

Marco Frigerio

CoRR, 2013

Vision enhanced reactive locomotion control for trotting on rough terrain.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE Conference on Technologies for Practical Robot Applications, 2013

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2013

A comparison of search-based planners for a legged robot.

[BibT_eX]

[DOI]

Proceedings of the 9th Workshop on Robot Motion and Control, 2013

Is Active Impedance the Key to a Breakthrough for Legged Robots?

[BibT_eX]

[DOI]

Victor Barasuol

Marco Frigerio

Proceedings of the Robotics Research, 2013

Stability and performance of the compliance controller of the quadruped robot HyQ.

[BibT_eX]

[DOI]

Gustavo A. Medrano-Cerda

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

A reactive controller framework for quadrupedal locomotion on challenging terrain.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Quadrupedal trotting with active compliance.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Mechatronics, 2013

2012

Model-Free Reinforcement Learning of Impedance Control in Stochastic Environments.

[BibT_eX]

[DOI]

IEEE Trans. Auton. Ment. Dev., 2012

Code generation of algebraic quantities for robot controllers.

[BibT_eX]

[DOI]

Marco Frigerio

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

On the role of load motion compensation in high-performance force control.

[BibT_eX]

[DOI]

Gustavo A. Medrano-Cerda

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Dynamic torque control of a hydraulic quadruped robot.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Torque-control based compliant actuation of a quadruped robot.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE International Workshop on Advanced Motion Control, 2012

2011

Learning, planning, and control for quadruped locomotion over challenging terrain.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2011

Learning variable impedance control.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2011

Editorial: Special Issue on Legged Locomotion.

[BibT_eX]

[DOI]

Jerry E. Pratt

Nicholas Roy

Int. J. Robotics Res., 2011

Learning to grasp under uncertainty.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Inverse dynamics control of floating-base robots with external constraints: A unified view.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Reinforcement learning of impedance control in stochastic force fields.

[BibT_eX]

[DOI]

Proceedings of the 1st International Conference on Development and Learning and on Epigenetic Robotics, 2011

Control of legged robots with optimal distribution of contact forces.

[BibT_eX]

[DOI]

Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), 2011

2010

Learning Policy Improvements with Path Integrals.

[BibT_eX]

[DOI]

Proceedings of the Thirteenth International Conference on Artificial Intelligence and Statistics, 2010

A Generalized Path Integral Control Approach to Reinforcement Learning.

[BibT_eX]

[DOI]

J. Mach. Learn. Res., 2010

Variable Impedance Control - A Reinforcement Learning Approach.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems VI, 2010

Reinforcement learning of motor skills in high dimensions: A path integral approach.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Inverse dynamics control of floating base systems using orthogonal decomposition.

[BibT_eX]

[DOI]

Michael N. Mistry

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Fast, robust quadruped locomotion over challenging terrain.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Reinforcement learning of full-body humanoid motor skills.

[BibT_eX]

[DOI]

Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion.

[BibT_eX]

[DOI]

Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

2009

Learning locomotion over rough terrain using terrain templates.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Compliant quadruped locomotion over rough terrain.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Path integral-based stochastic optimal control for rigid body dynamics.

[BibT_eX]

[DOI]

Proceedings of the IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009

2008

Self-organized adaptive legged locomotion in a compliant quadruped robot.

[BibT_eX]

[DOI]

Auton. Robots, 2008

2007

Engineering limit cycle systems - adaptive frequency oscillators and applications to adaptive locomotion control of compliant robots.

[BibT_eX]

[DOI]

PhD thesis, 2007

2006

Engineering entrainment and adaptation in limit cycle systems.

[BibT_eX]

[DOI]

Ludovic Righetti

Biol. Cybern., 2006

Adaptive Four Legged Locomotion Control Based on Nonlinear Dynamical Systems.

[BibT_eX]

[DOI]

Giorgio Brambilla

Proceedings of the From Animals to Animats 9, 2006

Finding Resonance: Adaptive Frequency Oscillators for Dynamic Legged Locomotion.

[BibT_eX]

[DOI]

Fumiya Iida

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

2005

A Dynamical Systems Approach to Learning: A Frequency-Adaptive Hopper Robot.

[BibT_eX]

[DOI]

Ludovic Righetti

Proceedings of the Advances in Artificial Life, 8th European Conference, 2005

2004

Distributed Central Pattern Generator Model for Robotics Application Based on Phase Sensitivity Analysis.

[BibT_eX]

[DOI]