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Emperical Interference
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Autonomous Vision
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Bioinspired Autonomous Miniature Robots
Dynamic Locomotion
Embodied Vision
Human Aspects of Machine Learning
Intelligent Control Systems
Learning and Dynamical Systems
Locomotion in Biorobotic and Somatic Systems
Micro, Nano, and Molecular Systems
Movement Generation and Control
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Robot Learning
Conference Paper
2022
Autonomous Learning
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Movement Generation and Control
Book Chapter
Momentum-Centered Control of Contact Interactions
Righetti, L., Herzog, A.
In Geometric and Numerical Foundations of Movements, 117:339-359, Springer Tracts in Advanced Robotics, Springer, Cham, 2017
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Movement Generation and Control
Autonomous Motion
Book Chapter
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, 57:35-51, Lecture Notes in Electrical Engineering, Springer Berlin Heidelberg, 2013
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BibTeX
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.