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**WBD**
I wanted to expand the optimizer to include whole-body dynamics, instead of only centroidal dynamics. The advantages are clear: the output is directly in joint torque which can be directly …
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Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis. (arXiv:2102.04122v3 [cs.RO] UPDATED)
https://ift.tt/3bRvd3c
The planning of whole-body motion and step time …
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[from: Bayesian optimization for learning gaits under uncertainty, (Calandra 2016)]
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Hi,
After learning a walking gait for several days and observing the results the gait seems ok.
However I noticed that the **BVH** file is still needed to run the network after optimization.
I…
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Very glad to make a try to use ungar to learn npmc, it's a excellent nmpc solver for researchers and learners. However, I encountered some issues. For example, the solutions in the first iteration con…
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Dear ocs2 development team,
First and foremost congratulations for the great work and thank you for sharing this with the community.
I am exploring ocs2 for our quadruped bi-manual Centauro robo…
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Hello,
this is more of a curiosity than an issue. The model looks very interesting but I was wondering if the repository is linked to any specific publication, so that it's easier/faster to understan…
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# Finished Projects
1. [x] [Write python code for raspberry pi robots](https://github.com/mithi/hexy)
2. [x] [Write series of posts about hexapod robots](https://github.com/mithi/wordpress-archive…
mithi updated
3 years ago
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Andy Ruina seemed to think that we should consider our inverse dynamics methods more carefully. He said Art Kuo is very critical of most people's inverse dynamics methods. Since we work up from the fo…