Seuraa
Wolfgang Merkt
Wolfgang Merkt
Senior Researcher, Oxford Robotics Institute
Vahvistettu sähköpostiosoite verkkotunnuksessa robots.ox.ac.uk - Kotisivu
Nimike
Viittaukset
Viittaukset
Vuosi
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
C Mastalli, R Budhiraja, W Merkt, G Saurel, B Hammoud, M Naveau, ...
IEEE ICRA 2020, 2019
2692019
Learning whole-body motor skills for humanoids
C Yang, K Yuan, W Merkt, T Komura, S Vijayakumar, Z Li
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids …, 2018
382018
A Feasibility-Driven Approach to Control-Limited DDP
C Mastalli, W Merkt, J Marti-Saumell, H Ferrolho, J Sola, N Mansard, ...
Autonomous Robots, 2022
36*2022
Agile maneuvers in legged robots: a predictive control approach
C Mastalli, W Merkt, G Xin, J Shim, M Mistry, I Havoutis, S Vijayakumar
arXiv preprint arXiv:2203.07554, 2022
332022
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
322017
Continuous-time collision avoidance for trajectory optimization in dynamic environments
W Merkt, V Ivan, S Vijayakumar
IEEE IROS 2019, 2019
252019
Leveraging precomputation with problem encoding for warm-starting trajectory optimization in complex environments
W Merkt, V Ivan, S Vijayakumar
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018
242018
Roloma: Robust loco-manipulation for quadruped robots with arms
H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar
Autonomous Robots 47 (8), 1463-1481, 2023
222023
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
222020
Exotica: An extensible optimization toolset for prototyping and benchmarking motion planning and control
V Ivan, Y Yang, W Merkt, MP Camilleri, S Vijayakumar
Robot Operating System (ROS) The Complete Reference (Volume 3), 211-240, 2019
222019
HDRM: A resolution complete dynamic roadmap for real-time motion planning in complex scenes
Y Yang, W Merkt, V Ivan, Z Li, S Vijayakumar
IEEE Robotics and Automation Letters 3 (1), 551-558, 2017
202017
Scaling sampling-based motion planning to humanoid robots
Y Yang, V Ivan, W Merkt, S Vijayakumar
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1448 …, 2016
202016
Planning in time-configuration space for efficient pick-and-place in non-static environments with temporal constraints
Y Yang, W Merkt, V Ivan, S Vijayakumar
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 1-9, 2018
172018
Robust shared autonomy for mobile manipulation with continuous scene monitoring
W Merkt, Y Yang, T Stouraitis, CE Mower, M Fallon, S Vijayakumar
2017 13th IEEE Conference on Automation Science and Engineering (CASE), 130-137, 2017
172017
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), 12752 …, 2021
162021
Memory clustering using persistent homology for multimodality-and discontinuity-sensitive learning of optimal control warm-starts
WX Merkt, V Ivan, T Dinev, I Havoutis, S Vijayakumar
IEEE Transactions on Robotics 37 (5), 1649-1660, 2021
132021
Safe and compliant control of redundant robots using a stack of passive task-space controllers
C Tiseo, W Merkt, W Wolfslag, S Vijayakumar, M Mistry
arXiv preprint arXiv:2002.12249, 2020
13*2020
Comparing alternate modes of teleoperation for constrained tasks
CE Mower, W Merkt, A Davies, S Vijayakumar
2019 IEEE 15th International Conference on Automation Science and …, 2019
132019
Simultaneous scene reconstruction and whole-body motion planning for safe operation in dynamic environments
MN Finean, W Merkt, I Havoutis
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
122021
A passive navigation planning algorithm for collision-free control of mobile robots
C Tiseo, V Ivan, W Merkt, I Havoutis, M Mistry, S Vijayakumar
2021 IEEE International Conference on Robotics and Automation (ICRA), 8223-8229, 2021
112021
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