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ORCIDSethu Vijayakumar
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2020 – today
- 2024
[j45]Lei Yan
, Theodoros Stouraitis, João Moura, Wenfu Xu, Michael Gienger, Sethu Vijayakumar:
Impact-Aware Bimanual Catching of Large-Momentum Objects. IEEE Trans. Robotics 40: 2543-2563 (2024)- [j44]Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau:
Online Multicontact Receding Horizon Planning via Value Function Approximation. IEEE Trans. Robotics 40: 2791-2810 (2024) - [c140]Andreas Christou, Antonio J. del Ama, Juan C. Moreno, Sethu Vijayakumar:
Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study. ICRA 2024: 5561-5568 - [c139]Marina Y. Aoyama, João Moura, Namiko Saito, Sethu Vijayakumar:
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation. ICRA 2024: 12839-12845 - [c138]Russell Buchanan, Adrian Röfer, João Moura, Abhinav Valada, Sethu Vijayakumar:
Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing. ICRA 2024: 16111-16117 - [c137]Keyhan Kouhkiloui Babarahmati, Mohammadreza Kasaei, Carlo Tiseo, Michael N. Mistry, Sethu Vijayakumar:
Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control. ICRA 2024: 17337-17343 - [i58]Andreas Christou, Antonio J. del Ama, Juan C. Moreno, Sethu Vijayakumar:
Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study. CoRR abs/2402.00775 (2024) - [i57]Namiko Saito, João Moura, Hiroki Uchida, Sethu Vijayakumar:
Latent Object Characteristics Recognition with Visual to Haptic-Audio Cross-modal Transfer Learning. CoRR abs/2403.10689 (2024) - [i56]Lei Yan, Theodoros Stouraitis, João Moura, Wenfu Xu, Michael Gienger, Sethu Vijayakumar:
Impact-Aware Bimanual Catching of Large-Momentum Objects. CoRR abs/2403.17249 (2024) - [i55]Nils Dengler, Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar, Maren Bennewitz:
Learning Goal-Directed Object Pushing in Cluttered Scenes with Location-Based Attention. CoRR abs/2403.17667 (2024) - [i54]Andreas Sochopoulos, Michael Gienger, Sethu Vijayakumar:
Learning Deep Dynamical Systems using Stable Neural ODEs. CoRR abs/2404.10622 (2024) - [i53]Jiayi Wang, Saeid Samadi, Hefan Wang, Pierre Fernbach, Olivier Stasse, Sethu Vijayakumar, Steve Tonneau:
NAS: N-step computation of All Solutions to the footstep planning problem. CoRR abs/2407.12962 (2024) - [i52]Gen Li, Nikolaos Tsagkas, Jifei Song, Ruaridh Mon-Williams, Sethu Vijayakumar, Kun Shao, Laura Sevilla-Lara:
Learning Precise Affordances from Egocentric Videos for Robotic Manipulation. CoRR abs/2408.10123 (2024) - [i51]Victor Leve, João Moura, Namiko Saito, Steve Tonneau, Sethu Vijayakumar:
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation. CoRR abs/2408.15726 (2024) - 2023
- [j43]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
RoLoMa: robust loco-manipulation for quadruped robots with arms. Auton. Robots 47(8): 1463-1481 (2023) - [j42]Mathew Jose Pollayil, Franco Angelini, Guiyang Xin, Michael N. Mistry, Sethu Vijayakumar, Antonio Bicchi, Manolo Garabini:
Choosing Stiffness and Damping for Optimal Impedance Planning. IEEE Trans. Robotics 39(2): 1281-1300 (2023) - [j41]Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar:
Inverse-Dynamics MPC via Nullspace Resolution. IEEE Trans. Robotics 39(4): 3222-3241 (2023) - [c136]Christopher E. Mower, João Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles:
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control. ICRA 2023: 9118-9124 - [c135]Namiko Saito, João Moura, Tetsuya Ogata, Marina Y. Aoyama, Shingo Murata, Shigeki Sugano, Sethu Vijayakumar:
Structured Motion Generation with Predictive Learning: Proposing Subgoal for Long-Horizon Manipulation. ICRA 2023: 9566-9572 - [c134]Daniel F. N. Gordon, Andreas Christou, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar:
Learning Personalised Human Sit-to-Stand Motion Strategies via Inverse Musculoskeletal Optimal Control. ICRA 2023: 10497-10503 - [c133]Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar:
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. ICRA 2023: 12226-12232 - [c132]Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar:
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration. IROS 2023: 5606-5613 - [c131]Ruaridh Mon-Williams, Theodoros Stouraitis, Sethu Vijayakumar:
A behavioural transformer for effective collaboration between a robot and a non-stationary human. RO-MAN 2023: 1150-1157 - [i50]Christopher E. Mower, João Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles:
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control. CoRR abs/2301.13512 (2023) - [i49]Ran Long, Christian Rauch, Vladimir Ivan, Tin Lun Lam, Sethu Vijayakumar:
RGB-D-Inertial SLAM in Indoor Dynamic Environments with Long-term Large Occlusion. CoRR abs/2303.13316 (2023) - [i48]Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar:
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. CoRR abs/2303.13726 (2023) - [i47]Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau:
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR abs/2305.08926 (2023) - [i46]Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau:
Online Multi-Contact Receding Horizon Planning via Value Function Approximation. CoRR abs/2306.04732 (2023) - [i45]Ruaridh Mon-Williams, Theodoros Stouraitis, Sethu Vijayakumar:
A behavioural transformer for effective collaboration between a robot and a non-stationary human. CoRR abs/2307.13447 (2023) - [i44]Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar:
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration. CoRR abs/2308.02459 (2023) - [i43]Marina Y. Aoyama, João Moura, Namiko Saito, Sethu Vijayakumar:
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation. CoRR abs/2309.04640 (2023) - [i42]Russell Buchanan, Adrian Röfer, João Moura, Abhinav Valada, Sethu Vijayakumar:
Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing. CoRR abs/2309.16343 (2023) - 2022
- [j40]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A feasibility-driven approach to control-limited DDP. Auton. Robots 46(8): 985-1005 (2022) - [j39]Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah:
Set-Based State Estimation With Probabilistic Consistency Guarantee Under Epistemic Uncertainty. IEEE Robotics Autom. Lett. 7(3): 5958-5965 (2022) - [j38]Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam, Sethu Vijayakumar:
RGB-D SLAM in Indoor Planar Environments With Multiple Large Dynamic Objects. IEEE Robotics Autom. Lett. 7(3): 8209-8216 (2022) - [j37]Christian Rauch, Ran Long, Vladimir Ivan, Sethu Vijayakumar:
Sparse-Dense Motion Modelling and Tracking for Manipulation Without Prior Object Models. IEEE Robotics Autom. Lett. 7(4): 11394-11401 (2022) - [j36]Daniel F. N. Gordon, Christopher McGreavy, Andreas Christou, Sethu Vijayakumar:
Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost. IEEE Trans. Robotics 38(3): 1410-1429 (2022) - [c130]Christopher E. Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, Sethu Vijayakumar:
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction. CoRL 2022: 1411-1423 - [c129]João Moura, Theodoros Stouraitis, Sethu Vijayakumar:
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints. ICRA 2022: 970-976 - [c128]Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar:
A Versatile Co-Design Approach For Dynamic Legged Robots. IROS 2022: 10343-10349 - [c127]Jiayi Wang, Teguh Santoso Lembono, Sanghyun Kim, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau:
Learning to Guide Online Multi-Contact Receding Horizon Planning. IROS 2022: 12942-12949 - [c126]Andreas Christou, Daniel F. N. Gordon, Theodoros Stouraitis, Sethu Vijayakumar:
Designing Personalised Rehabilitation Controllers using Offline Model-Based Optimisation. ROBIO 2022: 148-155 - [i41]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms. CoRR abs/2203.01446 (2022) - [i40]Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam, Sethu Vijayakumar:
RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects. CoRR abs/2203.02882 (2022) - [i39]Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar:
Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR abs/2203.07554 (2022) - [i38]Christian Rauch, Ran Long, Vladimir Ivan, Sethu Vijayakumar:
Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models. CoRR abs/2204.11923 (2022) - [i37]Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar:
Differentiable Optimal Control via Differential Dynamic Programming. CoRR abs/2209.01117 (2022) - [i36]Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar:
Inverse-Dynamics MPC via Nullspace Resolution. CoRR abs/2209.05375 (2022) - [i35]Christopher E. Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, Sethu Vijayakumar:
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction. CoRR abs/2210.06887 (2022) - 2021
- [j35]Lei Yan, Theodoros Stouraitis, Sethu Vijayakumar:
Decentralized Ability-Aware Adaptive Control for Multi-Robot Collaborative Manipulation. IEEE Robotics Autom. Lett. 6(2): 2311-2318 (2021) - [j34]Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Sethu Vijayakumar:
RigidFusion: Robot Localisation and Mapping in Environments With Large Dynamic Rigid Objects. IEEE Robotics Autom. Lett. 6(2): 3703-3710 (2021) - [j33]Guiyang Xin, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, Michael N. Mistry:
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 6(3): 4488-4495 (2021) - [j32]Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar:
Residual force polytope: Admissible task-space forces of dynamic trajectories. Robotics Auton. Syst. 142: 103814 (2021) - [j31]Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar:
Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. IEEE Trans. Robotics 37(5): 1649-1660 (2021) - [c125]Jiayi Wang, Sanghyun Kim, Sethu Vijayakumar, Steve Tonneau:
Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion. HUMANOIDS 2021: 53-60 - [c124]Lei Yan, Bingshan Hu, Sethu Vijayakumar:
A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots. ICIRA (4) 2021: 396-404 - [c123]Jiatao Ding, Songyan Xin, Tin Lun Lam, Sethu Vijayakumar:
Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies. ICRA 2021: 2957-2963 - [c122]Xiaoyu Zhang, Lei Yan, Tin Lun Lam, Sethu Vijayakumar:
Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation. ICRA 2021: 8158-8164 - [c121]Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taïx, Nicolas Mansard:
Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos. ICRA 2021: 8202-8208 - [c120]Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar:
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. ICRA 2021: 8216-8222 - [c119]Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar:
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. ICRA 2021: 8223-8229 - [c118]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. ICRA 2021: 12752-12758 - [c117]Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar:
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments. IROS 2021: 6868-6875 - [c116]Huayan Zhang, Tianwei Zhang, Tin Lun Lam, Sethu Vijayakumar:
PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time. IROS 2021: 7631-7638 - [c115]Christopher E. Mower, João Moura, Sethu Vijayakumar:
Skill-based Shared Control. Robotics: Science and Systems 2021 - [i34]Lei Yan, Theodoros Stouraitis, Sethu Vijayakumar:
Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation. CoRR abs/2102.03689 (2021) - [i33]Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar:
Co-Designing Robots by Differentiating Motion Solvers. CoRR abs/2103.04660 (2021) - [i32]Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael N. Mistry:
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems. CoRR abs/2106.10648 (2021) - [i31]Huayan Zhang, Tianwei Zhang, Tin Lun Lam, Sethu Vijayakumar:
PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time. CoRR abs/2108.00695 (2021) - [i30]Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar:
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments. CoRR abs/2108.01246 (2021) - [i29]Ke Wang, Guiyang Xin, Songyan Xin, Michael N. Mistry, Sethu Vijayakumar, Petar Kormushev:
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots. CoRR abs/2109.04581 (2021) - [i28]João Moura, Theodoros Stouraitis, Sethu Vijayakumar:
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints. CoRR abs/2109.13145 (2021) - [i27]Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah:
Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty. CoRR abs/2110.09584 (2021) - 2020
- [j30]Theodoros Stouraitis, Iordanis Chatzinikolaidis, Michael Gienger, Sethu Vijayakumar:
Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization. IEEE Trans. Robotics 36(5): 1452-1471 (2020) - [c114]Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry:
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. BioRob 2020: 1180-1187 - [c113]Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael N. Mistry:
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. CASE 2020: 1415-1420 - [c112]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020: 2536-2542 - [c111]Christopher McGreavy, Kai Yuan, Daniel F. N. Gordon, Kang Tan, Wouter Jan Wolfslag, Sethu Vijayakumar, Zhibin Li:
Unified Push Recovery Fundamentals: Inspiration from Human Study. ICRA 2020: 10876-10882 - [c110]Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar:
Modeling and Control of a Hybrid Wheeled Jumping Robot. IROS 2020: 2563-2570 - [c109]Wouter Jan Wolfslag, Christopher McGreavy, Guiyang Xin, Carlo Tiseo, Sethu Vijayakumar, Zhibin Li:
Optimisation of Body-ground Contact for Augmenting the Whole-Body Loco-manipulation of Quadruped Robots. IROS 2020: 3694-3701 - [c108]Songyan Xin, Sethu Vijayakumar:
Online Dynamic Motion Planning and Control for Wheeled Biped Robots. IROS 2020: 3892-3899 - [c107]Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar:
Automatic Gait Pattern Selection for Legged Robots. IROS 2020: 3990-3997 - [c106]Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar:
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. IROS 2020: 7477-7484 - [c105]Theodoros Stouraitis, Lei Yan, João Moura, Michael Gienger, Sethu Vijayakumar:
Multi-mode Trajectory Optimization for Impact-aware Manipulation. IROS 2020: 9425-9432 - [i26]Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li:
Learning Whole-body Motor Skills for Humanoids. CoRR abs/2002.02991 (2020) - [i25]Wouter Wolfslag, Christopher McGreavy, Guiyang Xin, Carlo Tiseo, Sethu Vijayakumar, Zhibin Li:
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots. CoRR abs/2002.10552 (2020) - [i24]Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry:
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers. CoRR abs/2002.12249 (2020) - [i23]Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar:
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. CoRR abs/2003.00609 (2020) - [i22]Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar:
Modeling and Control of a Hybrid Wheeled Jumping Robot. CoRR abs/2003.01440 (2020) - [i21]Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry:
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. CoRR abs/2003.01466 (2020) - [i20]Songyan Xin, Sethu Vijayakumar:
Online Dynamic Motion Planning and Control for Wheeled Biped Robots. CoRR abs/2003.03678 (2020) - [i19]Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael N. Mistry:
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. CoRR abs/2004.02996 (2020) - [i18]Theodoros Stouraitis, Lei Yan, João Moura, Michael Gienger, Sethu Vijayakumar:
Multi-modal Trajectory Optimization for Impact-aware Manipulation. CoRR abs/2006.13374 (2020) - [i17]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR abs/2010.00411 (2020) - [i16]Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar:
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. CoRR abs/2010.01024 (2020) - [i15]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. CoRR abs/2010.05359 (2020) - [i14]Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Sethu Vijayakumar:
RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects. CoRR abs/2010.10841 (2020) - [i13]Guiyang Xin, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, Michael N. Mistry:
Robust Planning and Control for Dynamic Quadrupedal Locomotion with Adaptive Feet. CoRR abs/2010.12326 (2020) - [i12]Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar:
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. CoRR abs/2011.00390 (2020) - [i11]Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar:
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. CoRR abs/2011.07325 (2020)
2010 – 2019
- 2019
- [c104]Wolfgang Merkt, Vladimir Ivan, Yiming Yang, Sethu Vijayakumar:
Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation. CASE 2019: 1206-1211 - [c103]Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar:
Comparing Alternate Modes of Teleoperation for Constrained Tasks. CASE 2019: 1497-1504 - [c102]Carlo Tiseo, Sethu Vijayakumar, Michael N. Mistry:
Analytic Model for Quadruped Locomotion Task-Space Planning. EMBC 2019: 5301-5304 - [c101]François Heremans, Sethu Vijayakumar, Mohamed Bouri, Bruno Dehez, Renaud Ronsse:
Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis. ICORR 2019: 411-416 - [c100]Franco Angelini, Guiyang Xin, Wouter Jan Wolfslag, Carlo Tiseo, Michael N. Mistry, Manolo Garabini, Antonio Bicchi, Sethu Vijayakumar:
Online Optimal Impedance Planning for Legged Robots. IROS 2019: 6028-6035 - [c99]Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar:
Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments. IROS 2019: 7248-7255 - [c98]Christopher E. Mower, João Moura, Aled Davies, Sethu Vijayakumar:
Modulating Human Input for Shared Autonomy in Dynamic Environments. RO-MAN 2019: 1-8 - [c97]João Moura, Vladimir Ivan, Mustafa Suphi Erden, Sethu Vijayakumar:
Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution. Robotics: Science and Systems 2019 - [i10]Carlo Tiseo, Sethu Vijayakumar, Michael N. Mistry:
Analytic Model for Quadruped Locomotion Task-Space Planning. CoRR abs/1902.07346 (2019) - [i9]Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar:
Comparing Alternate Modes of Teleoperation for Constrained Tasks. CoRR abs/1905.04428 (2019) - [i8]