A Feasibility-Driven Approach to Control-Limited DDP C Mastalli, W Merkt, J Marti-Saumell, H Ferrolho, J Sola, N Mansard, ... Autonomous Robots, 2022 | 37* | 2022 |
Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps Y Yang, W Merkt, H Ferrolho, V Ivan, S Vijayakumar IEEE Robotics and Automation Letters 2 (4), 2279-2286, 2017 | 32 | 2017 |
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar Autonomous Robots, 2023 | 23 | 2023 |
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections H Ferrolho, W Merkt, V Ivan, W Wolfslag, S Vijayakumar 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020 | 22 | 2020 |
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021 | 16 | 2021 |
Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories H Ferrolho, W Merkt, C Tiseo, S Vijayakumar Robotics and Autonomous Systems (RAS) 142, 103814, 2021 | 11* | 2021 |
Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments H Ferrolho, W Merkt, Y Yang, V Ivan, S Vijayakumar 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids …, 2018 | 6 | 2018 |
Robustness to External Disturbances for Legged Robots Using Dynamic Trajectory Optimisation HMM Ferrolho University of Edinburgh, 2022 | 1 | 2022 |
Whole-Body End-Pose Planning for High-Degree-of-Freedom Robots on Uneven and Inclined Surfaces HMM Ferrolho University of Porto, 2017 | | 2017 |