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.
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.
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.
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.
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.
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.
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.