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

• Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
  2025/5/1
• Adaptive Manipulation using Behavior Trees
  2024/6/1
• Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
  2024/5/1
• Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
  2023/10/1
• R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
  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
• A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
  2020/11/1
• Sparsity-Inducing Optimal Control via Differential Dynamic Programming
  2020/11/1
• A Feasibility-Driven Approach to Control-Limited DDP
  2020/10/1
• 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
• Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments
  2020/8/1
• Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
  2020/3/1
• 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
• 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