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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. ToExpand
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Optimization and stabilization of trajectories for constrained dynamical systems
Contact constraints, such as those between a foot and the ground or a hand and an object, are inherent in many robotic tasks. These constraints define a manifold of feasible states; while wellExpand
  • 103
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Human-in-the-loop optimization of hip assistance with a soft exosuit during walking
Human-in-the-loop optimization achieved a substantial metabolic reduction and demonstrated the value of individualization. Wearable robotic devices have been shown to substantially reduce the energyExpand
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An Architecture for Online Affordance-based Perception and Whole-body Planning
The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only dataExpand
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Robot learning from demonstration by constructing skill trees
We describe CST, an online algorithm for constructing skill trees from demonstration trajectories. CST segments a demonstration trajectory into a chain of component skills, where each skill has aExpand
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An efficiently solvable quadratic program for stabilizing dynamic locomotion
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function derived from aExpand
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Modeling and Control of Legged Robots
The promise of legged robots over wheeled robots is to provide improved mobility over rough terrain. Unfortunately, this promise comes at the cost of a significant increase in complexity. We now haveExpand
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Constructing Skill Trees for Reinforcement Learning Agents from Demonstration Trajectories
We introduce CST, an algorithm for constructing skill trees from demonstration trajectories in continuous reinforcement learning domains. CST uses a change-point detection method to segment eachExpand
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Dexterous mobility with the uBot-5 mobile manipulator
We present an initial demonstration of dexterous mobility using the uBot-5, a dynamically balancing mobile manipulator. Dexterous mobility refers generally to a level of bodily resourcefulness thatExpand
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Autonomous Skill Acquisition on a Mobile Manipulator
We describe a robot system that autonomously acquires skills through interaction with its environment. The robot learns to sequence the execution of a set of innate controllers to solve a task,Expand
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