Papers Accepted at ICRA 2020 Conference
Three SLMC papers accepted at ICRA2020.
Three papers from the SLMC group have been accepted at the ICRA 2020 conference held virtually from the 31 May to 15 June.
'Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control'. Crocoddyl is a versatile and efficient framework for multi-contact optimal control. It has novel optimal control solvers that are able to compute highly dynamics maneuvers within a few milliseconds.
Authors: Carlos Mastalli, Rohan Budhiraja, Wolfgang Xaver Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar and Nicolas Mansard
'SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain'. This paper proposes a new contact planner for gaited locomotion. The main contribution is that we relax the non-linear problem of selecting the appropriate contact surface for an effector into a convex one using L1-norm minimization. This results in an efficient planner, implemented in only a few hundred lines of python code.
Authors: Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taıx and Andrea Del Prete
'Unified Push Recovery Fundamentals: Inspiration from Human Study'. Currently for balance recovery, humans outperform humanoid robots which use hand-designed controllers in terms ofthe diverse actions.This study aims to close this gap by ﬁnding core control principles that are shared across ankle, hip, toe and stepping strategies by formulating experiments to test human balance recoveries and deﬁne criteria to quantify the strategy in use.
Authors: Christopher McGreavy, Kai Yuan, Daniel Gordon, Kang Tan, Wouter J Wolfslag, Sethu Vijayakumar, Zhibin Li