Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics

Jan 02, 2020
Michael Neunert, Abbas Abdolmaleki, Markus Wulfmeier, Thomas Lampe, Jost Tobias Springenberg, Roland Hafner, Francesco Romano, Jonas Buchli, Nicolas Heess, Martin Riedmiller

* Presented at the 3rd Conference on Robot Learning (CoRL 2019), Osaka, Japan. Video: https://youtu.be/eUqQDLQXb7I 

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ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization

Mar 01, 2019
Timothy Sandy, Lukas Stadelmann, Simon Kerscher, Jonas Buchli

* IEEE Robotics and Automation Letters, 2019, Volume 4, Number 2, Pages 1093-1100 

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Value constrained model-free continuous control

Feb 12, 2019
Steven Bohez, Abbas Abdolmaleki, Michael Neunert, Jonas Buchli, Nicolas Heess, Raia Hadsell


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Nonlinear disturbance attenuation control of hydraulic robotics

Aug 04, 2018
Peng Lu, Timothy Sandy, Jonas Buchli


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A Projection Approach to Equality Constrained Iterative Linear Quadratic Optimal Control

May 23, 2018
Markus Giftthaler, Jonas Buchli

* 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) 
* Corrected version, fixes a typo in Eq. (11)-(12) 

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The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

Mar 26, 2018
Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli


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Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control

Jan 16, 2018
Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli

* 7 pages 

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Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation

Jan 16, 2018
Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli

* Advanced Robotics, November 2017, Taylor and Francis 

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

Dec 11, 2017
Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli, Moritz Diehl

* 8 pages 

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Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

Dec 07, 2017
Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine D. Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli

* Submitted to "Robotics and Automation: Letters" / "International Conference on Robotics and Automation 2018" 

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Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach

Oct 11, 2017
Farbod Farshidian, Edo Jelavić, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli

* 8 pages 

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Optimal and Learning Control for Autonomous Robots

Aug 30, 2017
Jonas Buchli, Farbod Farshidian, Alexander Winkler, Timothy Sandy, Markus Giftthaler

* Lecture Notes, 101 pages 

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Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints

May 27, 2017
Alexander W Winkler, Farbod Farshidian, Diego Pardo, Michael Neunert, Jonas Buchli

* currently under review for IEEE RA-L 

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Robust Whole-Body Motion Control of Legged Robots

Mar 07, 2017
Farbod Farshidian, Edo Jelavić, Alexander W. Winkler, Jonas Buchli

* 8 Pages 

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An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion

Mar 04, 2017
Farbod Farshidian, Michael Neunert, Alexander W. Winkler, Gonzalo Rey, Jonas Buchli

* 8 Pages 

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

Jan 13, 2017
Markus Giftthaler, Timothy Sandy, Kathrin Dörfler, Ian Brooks, Mark Buckingham, Gonzalo Rey, Matthias Kohler, Fabio Gramazio, Jonas Buchli


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Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

Jul 15, 2016
Michael Neunert, Farbod Farshidian, Alexander W. Winkler, Jonas Buchli

* Video: https://youtu.be/sILuqJBsyKs 

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An Open Source, Fiducial Based, Visual-Inertial Motion Capture System

Jun 13, 2016
Michael Neunert, Michael Bloesch, Jonas Buchli

* To appear in The International Conference on Information Fusion (FUSION) 2016 

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

May 23, 2016
Michele Focchi, Gustavo A. Medrano-Cerda, Thiago Boaventura, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini

* 14 pages in Control Theory and Technology (2016) 

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Evaluating direct transcription and nonlinear optimization methods for robot motion planning

Jan 29, 2016
Diego Pardo, Lukas Möller, Michael Neunert, Alexander W. Winkler, Jonas Buchli


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Projection based whole body motion planning for legged robots

Oct 06, 2015
Diego Pardo, Michael Neunert, Alexander W. Winkler, Jonas Buchli


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

Jan 30, 2013
Marco Frigerio, Jonas Buchli, Darwin G. Caldwell

* Presented at DSLRob 2011 (arXiv:1212.3308) 

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