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Multi-body Locomotion : Problem Structure and Efficient Resolution

 Rohan Budhiraja
Automatic. INSA de Toulouse, 2019. English. ⟨NNT : 2019ISAT0036⟩
Thèse tel-02880584v2
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Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

 Rohan Budhiraja , Justin Carpentier , Carlos Mastalli , Nicolas Mansard
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), Nov 2018, Beijing, China. ⟨10.1109/HUMANOIDS.2018.8624925⟩
Communication dans un congrès hal-01851596v2
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Proximal and Sparse Resolution of Constrained Dynamic Equations

 Justin Carpentier , Rohan Budhiraja , Nicolas Mansard
Robotics: Science and Systems 2021, Jul 2021, Austin / Virtual, United States
Communication dans un congrès hal-03271811v1
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Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots

 Rohan Budhiraja , Justin Carpentier , Nicolas Mansard
ICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada
Communication dans un congrès hal-01875031v3
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High-Frequency Nonlinear Model Predictive Control of a Manipulator

 Sébastien Kleff , Avadesh Meduri , Rohan Budhiraja , Nicolas Mansard , Ludovic Righetti
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560990⟩
Communication dans un congrès hal-02993058v2
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Comparison of predictive controllers for locomotion and balance recovery of quadruped robots

 Thomas Corbères , Thomas Flayols , Pierre-Alexandre Léziart , Rohan Budhiraja , Philippe Souères , et al.
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560976⟩
Communication dans un congrès hal-03034022v2
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Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

 Ewen Louis Dantec , Rohan Budhiraja , Adria Roig , Teguh Lembono , Guilhem Saurel , et al.
International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩
Communication dans un congrès hal-02995796v2
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TALOS: A new humanoid research platform targeted for industrial applications

 Olivier Stasse , Thomas Flayols , Rohan Budhiraja , Kevin Giraud-Esclasse , Justin Carpentier , et al.
International Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩
Communication dans un congrès hal-01485519v2
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Learning Feasibility Constraints for Multi-contact Locomotion of Legged Robots

 Justin Carpentier , Rohan Budhiraja , Nicolas Mansard
Robotics: Science and Systems, Jul 2017, Cambridge, MA, United States. 9p
Communication dans un congrès hal-01526200v1

Crocoddyl: Fast computation, Efficient solvers,Receding horizon and Learning

 Rohan Budhiraja , Amit Parag , Ewen Dantec , Justin Carpentier , Carlos Mastalli , et al.
Journées Nationales de la Robotique Humanoïde, May 2020, Paris (virtual), France
Communication dans un congrès hal-02898916v1
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Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

 Carlos Mastalli , Rohan Budhiraja , Wolfgang Merkt , Guilhem Saurel , Bilal Hammoud , et al.
ICRA 2020 IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. ⟨10.1109/ICRA40945.2020.9196673⟩
Communication dans un congrès hal-02294059v1
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Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project

 Justin Carpentier , Andrea del Prete , Steve Tonneau , Thomas Flayols , Florent Forget , et al.
RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p
Communication dans un congrès hal-01543060v1
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Anthropomorphic Gait Generation using Differential Dynamic Programming with a Reduced Number of Cost Criteria

 Melya Boukheddimi , Rohan Budhiraja , Philippe Souères , Bruno Watier
The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics, Nov 2020, New York, United States. ⟨10.1109/BioRob49111.2020.9224427⟩
Communication dans un congrès hal-02615813v1
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