Control of contact interactions for robots acting in the world

Project Information

CONT-ACT

Grant agreement ID: 637935

DOI 10.3030/637935

Project closed

EC signature date 26 February 2015

Start date 1 June 2015

End date 30 November 2020

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 1 495 500,00

EU contribution € 1 495 500,00

Coordinated by

MAX-PLANCK-GESELLSCHAFT ZUR FORDERUNG DER WISSENSCHAFTEN EV
Germany

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Conference proceedings (24)

DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain

Author(s): Avadesh Meduri, Majid Khadiv, Ludovic Righetti
Published in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

Leveraging Forward Model Prediction Error for Learning Control

Author(s): Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti
Published in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

Author(s): Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 2536-2542, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196673

Meta-learning via learned loss

Author(s): Sarah Bechtle, Artem Molchanov, Yevgen Chebotar, Edward Grefenstette, Ludovic Righetti, Gaurav Sukhatme, Franziska Meier
Published in: 25th International Conference on Pattern Recognition, 2021
Publisher: N/A

Learning a Centroidal Motion Planner for Legged Locomotion

Author(s): Julian Viereck and Ludovic Righetti
Published in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

High-Frequency Nonlinear Model Predictive Control of a Manipulator

Author(s): Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, and Ludovic Righetti
Published in: 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

Unsupervised Contact Learning for Humanoid Estimation and Control

Author(s): Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 411-417, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8462864

On Time Optimization of Centroidal Momentum Dynamics

Author(s): Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 5776-5782, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8460537

An MPC Walking Framework with External Contact Forces

Author(s): Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1785-1790, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8461236

Pattern Generation for Walking on Slippery Terrains

Author(s): Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righeni
Published in: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), 2017, Page(s) 120-125, ISBN 978-1-5386-5703-4
Publisher: IEEE
DOI: 10.1109/icrom.2017.8466188

A convex model of humanoid momentum dynamics for multi-contact motion generation

Author(s): Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti
Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 842-849, ISBN 978-1-5090-4718-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2016.7803371

Step timing adjustment: A step toward generating robust gaits

Author(s): Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, Ludovic Righetti
Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 35-42, ISBN 978-1-5090-4718-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2016.7803251

Balancing and walking using full dynamics LQR control with contact constraints

Author(s): Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 63-68, ISBN 978-1-5090-4718-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2016.7803255

Structured contact force optimization for kino-dynamic motion generation

Author(s): Alexander Herzog, Stefan Schaal, Ludovic Righetti
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 2703-2710, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759420

Trajectory generation for multi-contact momentum control

Author(s): Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 874-880, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363464

Inertial sensor-based humanoid joint state estimation

Author(s): Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 1825-1831, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487328

Humanoid momentum estimation using sensed contact wrenches

Author(s): Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 556-563, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363417

Stepping stabilization using a combination of DCM tracking and step adjustment

Author(s): Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali. A. Moosavian, Stefan Schaal, Ludovic Righetti
Published in: 2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016, Page(s) 130-135, ISBN 978-1-5090-3222-8
Publisher: IEEE
DOI: 10.1109/icrom.2016.7886834

Learning Task-Specific Dynamics to Improve Whole-Body Control

Author(s): Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Rigbetti
Published in: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 280-283, ISBN 978-1-5386-7283-9
Publisher: IEEE
DOI: 10.1109/humanoids.2018.8624970

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning *

Author(s): Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
Published in: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Page(s) 170-177, ISBN 978-1-5386-7630-1
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035003

Learning to Explore in Motion and Interaction Tasks

Author(s): Miroslav Bogdanovic, Ludovic Righetti
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 2686-2692, ISBN 978-1-7281-4004-9
Publisher: IEEE
DOI: 10.1109/iros40897.2019.8968584

Curious iLQR: Resolving Uncertainty in Model-based RL

Author(s): Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier
Published in: Conference on Robot Learning (CoRL), 2019
Publisher: N/A

Leveraging Contact Forces for Learning to Grasp

Author(s): Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 3615-3621, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793733

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction

Author(s): Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 5280-5286, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8794032

Peer reviewed articles (9)

Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control

Author(s): Bilal Hammoud, Majid Khadiv, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 4766-4773, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068951

Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics

Author(s): Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
Published in: IEEE Transactions on Robotics, 2021, Page(s) 1-19, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.3048125

Learning Variable Impedance Control for Contact Sensitive Tasks

Author(s): Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6129-6136, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3011379

Learning a Structured Neural Network Policy for a Hopping Task

Author(s): Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 4092-4099, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2861466

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking

Author(s): John R. Rebula, Stefan Schaal, James Finley, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 4531-4538, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2933766

Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

Author(s): Thomas Flayols, Andrea Del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti
Published in: Applied Sciences, Issue 11/1, 2021, Page(s) 353, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11010353

Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control

Author(s): Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, 2021, Page(s) 1-1, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061381

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

Author(s): Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wuthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Sprowitz, Ludovic Righetti
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 3650-3657, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2976639

Walking Control Based on Step Timing Adaptation

Author(s): Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, Ludovic Righetti
Published in: IEEE Transactions on Robotics, Issue 36/3, 2020, Page(s) 629-643, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.2982584

Book chapters (3)

Whole-Body Manipulation

Author(s): Olivier Stasse, Ludovic Righetti
Published in: Encyclopedia of Robotics, 2020, Page(s) 1-9, ISBN 978-3-642-41610-1
Publisher: Springer Berlin Heidelberg
DOI: 10.1007/978-3-642-41610-1_187-1

Momentum-Centered Control of Contact Interactions

Author(s): Ludovic Righetti, Alexander Herzog
Published in: Geometric and Numerical Foundations of Movements, 2017, Page(s) 339-359, ISBN 978-3-319-51546-5
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-51547-2_14

On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions

Author(s): Brahayam Pontón, Stefan Schaal, Ludovic Righetti
Published in: Algorithmic Foundations of Robotics XII - Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, Issue 13, 2020, Page(s) 784-799, ISBN 978-3-030-43088-7
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-43089-4_50