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Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty


Oct 18, 2021
Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah


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Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints


Sep 27, 2021
João Moura, Theodoros Stouraitis, Sethu Vijayakumar


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A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots


Sep 09, 2021
Ke Wang, Guiyang Xin, Songyan Xin, Michael Mistry, Sethu Vijayakumar, Petar Kormushev

* 8 pages 

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AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments


Aug 03, 2021
Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar

* Accepted by IROS-2021 

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PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time


Aug 02, 2021
Huayan Zhang, Tianwei Zhang, Tin Lun Lam, Sethu Vijayakumar

* Accepted by IROS-2021 

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HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems


Jul 20, 2021
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael Mistry

* in IEEE Transactions on Neural Systems and Rehabilitation Engineering. Video: https://youtu.be/3FsVDZOIR1k 

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Co-Designing Robots by Differentiating Motion Solvers


Mar 08, 2021
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar

* 8 pages, 7 figures, submitted to IROS 2021 

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Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation


Feb 07, 2021
Lei Yan, Theodoros Stouraitis, Sethu Vijayakumar

* The article has been submitted to IEEE Robotics and Automation Letters (RA-L) with ICRA 2021 conference option; the article has been accepted for publication in RA-L 

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Sparsity-Inducing Optimal Control via Differential Dynamic Programming


Nov 14, 2020
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar

* 7 pages, 12 figures, submitted to IEEE ICRA 2021 

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A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots


Nov 01, 2020
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael Mistry, Sethu Vijayakumar


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Robust Planning and Control for Dynamic Quadrupedal Locomotion with Adaptive Feet


Oct 23, 2020
Guiyang Xin, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, Michael Mistry

* Submitted to IEEE Robotics and Automation Letters 

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RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects


Oct 21, 2020
Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Sethu Vijayakumar

* 10 pages, 11 figures 

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Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization


Oct 11, 2020
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar

* Under review as a submission for RA-L and ICRA 2021 for the IEEE Robotics and Automation Letters (RA-L). Supplementary video available in https://youtu.be/HZPKyQcwTPU 

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Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts


Oct 02, 2020
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar

* 11 pages, 11 figures, submitted to IEEE T-RO 

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A Direct-Indirect Hybridization Approach to Control-Limited DDP


Oct 01, 2020
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Sola, Nicolas Mansard, Sethu Vijayakumar

* 9 pages, 7 figures, draft version 

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Multi-modal Trajectory Optimization for Impact-aware Manipulation


Jun 23, 2020
Theodoros Stouraitis, Lei Yan, João Moura, Michael Gienger, Sethu Vijayakumar


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Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots


Apr 06, 2020
Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael Mistry

* Under review. Video available at https://www.youtube.com/watch?v=tIyfUjJgJIM 

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Online Dynamic Motion Planning and Control for Wheeled Biped Robots


Mar 07, 2020
Songyan Xin, Sethu Vijayakumar


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Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance


Mar 03, 2020
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael Mistry


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Modeling and Control of a Hybrid Wheeled Jumping Robot


Mar 03, 2020
Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar

* 7 pages, 11 figures, Under review for IROS 2020, Video URL: https://youtu.be/kv_wYg0SVXY 

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Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections


Mar 01, 2020
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar

* Under review for IROS 2020 

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Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers


Feb 27, 2020
Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag, Sethu Vijayakumar, Michael Mistry


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Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots


Feb 24, 2020
Wouter Wolfslag, Christopher McGreavy, Guiyang Xin, Carlo Tiseo, Sethu Vijayakumar, Zhibin Li


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Learning Whole-body Motor Skills for Humanoids


Feb 07, 2020
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li

* 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) 

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Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control


Sep 11, 2019
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard

* 8 pages, submitted to RA-L 

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Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization


Aug 15, 2019
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar


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Comparing Alternate Modes of Teleoperation for Constrained Tasks


May 11, 2019
Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar


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Analytic Model for Quadruped Locomotion Task-Space Planning


Apr 11, 2019
Carlo Tiseo, Sethu Vijayakumar, Michael Mistry

* Accepted to be Published in 2019, 41th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin Germany 

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The ORCA Hub: Explainable Offshore Robotics through Intelligent Interfaces


Mar 06, 2018
Helen Hastie, Katrin Lohan, Mike Chantler, David A. Robb, Subramanian Ramamoorthy, Ron Petrick, Sethu Vijayakumar, David Lane

* 2 pages. Peer reviewed position paper accepted in the Explainable Robotic Systems Workshop, ACM Human-Robot Interaction conference, March 2018, Chicago, IL USA 

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