Posts by Collection
portfolio
publications
Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps
Published in IEEE Robotics and Automation Letters (RA-L), 2017
Recommended citation: Y. Yang, W. Merkt, H. Ferrolho, V. Ivan and S. Vijayakumar, "Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps," IEEE Robotics and Automation Letters (RA-L), 2017.
Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments
Published in IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018
Recommended citation: H. Ferrolho, W. Merkt, Y. Yang, V. Ivan and S. Vijayakumar, "Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments," in IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018.
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Recommended citation: H. Ferrolho, W. Merkt, V. Ivan, W. Wolfslag, S. Vijayakumar, "Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020.
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Published in IEEE International Conference on Robotics and Automation (ICRA), 2021
Recommended citation: H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar, "Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization," in IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021.
Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories
Published in Robotics and Autonomous Systems (RAS), 2021
Recommended citation: H. Ferrolho, W. Merkt, C. Tiseo and S. Vijayakumar, "Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories," Robotics and Autonomous Systems (RAS), 2021.
A feasibility-driven approach to control-limited DDP
Published in Autonomous Robots (AuRo), 2022
Recommended citation: C. Mastalli, W. Merkt, J. Marti-Saumell, H. Ferrolho, J. Sola, N. Mansard, S. Vijayakumar, "A feasibility-driven approach to control-limited DDP," Autonomous Robots (AuRo), 2022.
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Published in Autonomous Robots (AuRo), 2023
Recommended citation: H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar, "RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms," Autonomous Robots (AuRo), 2023.
talks
Talk 1 on Relevant Topic in Your Field
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Tutorial 1 on Relevant Topic in Your Field
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Talk 2 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
Teaching experience 2
Workshop, University 1, Department, 2015