Search Results - "Gazar, Ahmad"

Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback by Gazar, Ahmad, Nava, Gabriele, Chavez, Francisco Javier Andrade, Pucci, Daniele

“…Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common…”
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Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty by Gazar, Ahmad, Khadiv, Majid, Del Prete, Andrea, Righetti, Ludovic

“…Trajectory optimization under uncertainties is a challenging problem for robots in contact with the environment. Such uncertainties are inevitable due to…”
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Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance by Gazar, Ahmad, Khadiv, Majid, Prete, Andrea Del, Righetti, Ludovic

“…Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of…”
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On the Use of Torque Measurement in Centroidal State Estimation by Khorshidi, Shahram, Gazar, Ahmad, Rotella, Nicholas, Naveau, Maximilien, Righetti, Ludovic, Bennewitz, Maren, Khadiv, Majid

“…State-of-the-art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the…”
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Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots by Gazar, Ahmad, Khadiv, Majid, Kleff, Sébastien, Del Prete, Andrea, Righetti, Ludovic

“…Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics…”
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On the Use of Torque Measurement in Centroidal State Estimation by Khorshidi, Shahram, Gazar, Ahmad, Rotella, Nicholas, Naveau, Maximilien, Righetti, Ludovic, Bennewitz, Maren, Khadiv, Majid

“…State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the…”
Get full text

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance by Gazar, Ahmad, Khadiv, Majid, Del Prete, Andrea, Righetti, Ludovic

“…Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of…”
Get full text

Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback by Gazar, Ahmad, Nava, Gabriele, Chavez, Francisco Javier Andrade, Pucci, Daniele

“…Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common…”
Get full text