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2020


Differentiation of Blackbox Combinatorial Solvers
Differentiation of Blackbox Combinatorial Solvers

Vlastelica, M., Paulus, A., Musil, V., Martius, G., Rolı́nek, M.

In International Conference on Learning Representations, ICLR’20, 2020 (incollection)

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link (url) Project Page [BibTex]

2020


link (url) Project Page [BibTex]

2013


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Using Torque Redundancy to Optimize Contact Forces in Legged Robots

Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S.

In Redundancy in Robot Manipulators and Multi-Robot Systems, 57, pages: 35-51, Lecture Notes in Electrical Engineering, Springer Berlin Heidelberg, 2013 (incollection)

Abstract
The development of legged robots for complex environments requires controllers that guarantee both high tracking performance and compliance with the environment. More specifically the control of contact interaction with the environment is of crucial importance to ensure stable, robust and safe motions. In the following, we present an inverse dynamics controller that exploits torque redundancy to directly and explicitly minimize any combination of linear and quadratic costs in the contact constraints and in the commands. Such a result is particularly relevant for legged robots as it allows to use torque redundancy to directly optimize contact interactions. For example, given a desired locomotion behavior, it can guarantee the minimization of contact forces to reduce slipping on difficult terrains while ensuring high tracking performance of the desired motion. The proposed controller is very simple and computationally efficient, and most importantly it can greatly improve the performance of legged locomotion on difficult terrains as can be seen in the experimental results.

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link (url) [BibTex]

2013


link (url) [BibTex]


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Behavior as broken symmetry in embodied self-organizing robots

Der, R., Martius, G.

In Advances in Artificial Life, ECAL 2013, pages: 601-608, MIT Press, 2013 (incollection)

al

[BibTex]

[BibTex]

2002


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Ion Channeling in Quasicrystals

Plachke, D., Carstanjen, H. D.

In Quasicrystals. An Introduction to Structure, Physical Properties and Applications, 55, pages: 280-304, Springer Series in Materials Science, Springer, Berlin [et al.], 2002 (incollection)

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[BibTex]

2002


[BibTex]

2001


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Influence of grain boundary phase transitions on the properties of Cu-Bi polycrystals

Straumal, B. B., Sluchanko, N.E., Gust, W.

In Defects and Diffusion in Metals III: An Annual Retrospective III, 188-1, pages: 185-194, Defect and Diffusion Forum, 2001 (incollection)

mms

[BibTex]

2001


[BibTex]