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Unsupervised Contact Learning for Humanoid Estimation and Control


Sep 21, 2017
Nicholas Rotella, Stefan Schaal, Ludovic Righetti

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* Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 2018 

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Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints


Jan 27, 2017
Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti

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Structured contact force optimization for kino-dynamic motion generation


Dec 24, 2016
Alexander Herzog, Stefan Schaal, Ludovic Righetti

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* 8 pages 

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Step Timing Adjustment: A Step toward Generating Robust Gaits


Dec 12, 2016
Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, Ludovic Righetti

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* 8 pages, 8 figures 

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Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment


Sep 30, 2016
Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali. A. Moosavian, Stefan Schaal, Ludovic Righetti

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* 6 pages, 5 figure 

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A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation


Jul 28, 2016
Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti

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* 8 pages 

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Inertial Sensor-Based Humanoid Joint State Estimation


Feb 16, 2016
Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti

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* Accepted to International Conference on Robotics and Automation (ICRA) 2016 

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Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid


Aug 07, 2015
Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti

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* 21 pages, 11 figures, 4 tables in Autonomous Robots (2015) 

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Humanoid Momentum Estimation Using Sensed Contact Wrenches


Jul 15, 2015
Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti

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* Submitted to the 15th IEEE RAS Humanoids Conference, to be held in Seoul, Korea on November 3 - 5, 2015 

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Trajectory generation for multi-contact momentum-control


Jul 15, 2015
Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti

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