Wolfgang Merkt

収録論文 33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

• ダイナミクス条件付き方策による四足ロボットの参照不要なプラットフォーム適応歩行
  歩行2025/5/1

  深層強化学習で手続き的に生成した多様な四足ロボットを訓練し、形態やダイナミクスに適応する単一の歩行方策を実現した。

• ビヘイビアツリーを用いた適応的マニピュレーション
  マニピュレーション2024/6/1

  ビヘイビアツリーの枠組みで、視覚・非視覚情報に基づきマニピュレーション戦略を適応的に選択・学習する手法を提案し、産業タスクで安全性・堅牢性・効率性を実証した。

• Gaitor: 四足歩行の歩容を統一表現で学習する実世界ロコモーション
  歩行2024/5/1

  四足ロボットの複数歩容を2次元の解釈可能な潜在空間で統一的に表現し、歩容間の連続的な遷移と不整地適応を実現した。

• R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
  2023/10/1
• Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
  2023/10/1
• Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
  2023/5/1
• Roll-Drop: accounting for observation noise with a single parameter
  2023/4/1
• Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
  2022/9/1
• VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
  2022/5/1
• Agile Maneuvers in Legged Robots: a Predictive Control Approach
  2022/3/1
• RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
  2022/3/1
• Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction
  2022/1/1
• Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
  2021/12/1
• Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments
  2021/9/1
• Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
  2021/8/1
• HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
  2021/6/1
• Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments
  2021/3/1
• CPG-ACTOR: Reinforcement Learning for Central Pattern Generators
  2021/2/1
• Sparsity-Inducing Optimal Control via Differential Dynamic Programming
  2020/11/1
• A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
  2020/11/1
• Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
  2020/10/1
• Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
  2020/10/1
• A Feasibility-Driven Approach to Control-Limited DDP
  2020/10/1
• Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments
  2020/8/1
• Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
  2020/3/1
• Modeling and Control of a Hybrid Wheeled Jumping Robot
  2020/3/1
• Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
  2020/3/1
• Safe and Compliant Control of Redundant Robots Using Superimposition of Passive Task-Space Controllers
  2020/2/1
• Learning Whole-body Motor Skills for Humanoids
  2020/2/1
• Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
  2019/9/1
• Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories
  2019/8/1
• Comparing Alternate Modes of Teleoperation for Constrained Tasks
  2019/5/1
• Scaling Sampling-based Motion Planning to Humanoid Robots
  2016/7/1