Patrick M. Wensing

収録論文 31本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 拘束埋め込み閉リンクモデルへの剛体力学微分の適応
  ダイナミクス/微分可能シミュレーション2026/9/17

  拘束埋め込みでモデル化された閉リンク系に対し、剛体力学の一次微分を計算するアルゴリズムを拡張し、より一般的な関節型に適用可能にした。

• URDF+：閉ループ機構を持つロボットのための拡張URDF
  モデル記述/シミュレーション2024/11/1

  閉ループ機構を記述できない従来のURDFを拡張し、ループ関節を表現可能にするとともに、閉リンク系の動力学アルゴリズムで使えるよう自動変換するパーサを提供した論文。

• Cafe-Mpc: カスケード忠実度モデル予測制御によるチューニング不要な全身制御フレームワーク
  歩行2024/3/1

  予測ホライズンに沿ってモデル忠実度を段階的に緩和するカスケード型MPCと、その行動価値関数を用いたチューニング不要の全身制御を統合し、Mini Cheetahで体操風のバレルロールを実現した。

• A Propagation Perspective on Recursive Forward Dynamics for Systems with Kinematic Loops
  2023/11/1
• A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
  2023/9/1
• Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller
  2023/9/1
• Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives
  2023/7/1
• On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation
  2023/2/1
• Optimization-Based Control for Dynamic Legged Robots
  2022/11/1
• CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality
  2022/11/1
• Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
  2022/9/1
• Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
  2022/9/1
• Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
  2022/3/1
• Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
  2022/3/1
• Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
  2022/1/1
• Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
  2021/9/1
• Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
  2021/9/1
• Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum
  2021/6/1
• Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra
  2021/5/1
• Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems
  2021/3/1
• Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
  2020/12/1
• Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems
  2020/10/1
• Model Hierarchy Predictive Control of Robotic Systems
  2020/10/1
• Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots
  2020/6/1
• Approximate Simulation for Template-Based Whole-Body Control
  2020/6/1
• Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model
  2019/11/1
• MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
  2019/9/1
• Formal Connections between Template and Anchor Models via Approximate Simulation
  2019/9/1
• A Geometric Characterization of Observability in Inertial Parameter Identification
  2017/11/1
• Cooperative Adaptive Control for Cloud-Based Robotics
  2017/9/1
• Linear Matrix Inequalities for Physically-Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution
  2017/1/1