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

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

11 September 2019

Carlos Mastalli

Rohan Budhiraja

Justin Carpentier

Ludovic Righetti

Nicolas Mansard

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

17 / 17 papers shown

Title
Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion Masaki Murooka Mitsuharu Morisawa F. Kanehiro 15 19 0 29 May 2025
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy David Rytz Suyoung Choi Wanming Yu W. Merkt Jemin Hwangbo Ioannis Havoutis 27 0 0 21 May 2025
Optimal Control of Walkers with Parallel Actuation Ludovic de Matteïs Virgile Batto Justin Carpentier Nicolas Mansard 80 1 0 01 Apr 2025
MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence Pranav Vaidhyanathan Aristotelis Papatheodorou Mark T. Mitchison Natalia Ares Ioannis Havoutis PINN AI4CE 109 1 0 23 Feb 2025
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 66 7 0 14 Aug 2024
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 36 6 0 18 Mar 2024
Morphological Symmetries in Robotics Daniel Felipe Ordoñez Apraez Giulio Turrisi Vladimir Kostic Mario Martin Antonio Agudo Francesc Moreno-Noguer Massimiliano Pontil Claudio Semini Carlos Mastalli AI4CE 49 6 0 23 Feb 2024
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 22 111 0 11 Mar 2020
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics Rohan Budhiraja Justin Carpentier Carlos Mastalli Nicolas Mansard 28 84 0 10 Apr 2019
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization Bernardo Aceituno-Cabezas Carlos Mastalli Hongkai Dai Michele Focchi A. Radulescu Darwin G. Caldwell J. Cappelletto J. Grieco Gerardo Fernández-López Claudio Semini 31 150 0 09 Apr 2019
Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain Shamel Fahmi Carlos Mastalli Michele Focchi Claudio Semini 43 102 0 02 Nov 2018
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds Michael Neunert M. Stäuble Markus Giftthaler C. D. Bellicoso Jan Carius Christian Gehring Marco Hutter J. Buchli 25 251 0 07 Dec 2017
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control Markus Giftthaler Michael Neunert M. Stäuble J. Buchli Moritz Diehl 34 100 0 29 Nov 2017
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion Farbod Farshidian Michael Neunert Alexander Winkler Gonzalo Rey J. Buchli 21 144 0 30 Sep 2016
A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation Brahayam Pontón Alexander Herzog S. Schaal Ludovic Righetti 16 73 0 28 Jul 2016
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds Michael Neunert Farbod Farshidian Alexander Winkler J. Buchli 16 120 0 15 Jul 2016
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics Alexander Herzog Ludovic Righetti F. Grimminger P. Pastor S. Schaal 36 149 0 09 May 2013