Wolfgang Merkt
Wolfgang Merkt
Postdoctoral Research Assistant, Oxford Robotics Institute
Verifierad e-postadress på robots.ox.ac.uk - Startsida
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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
182019
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
152017
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
132016
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), 211-240, 2019
122019
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
112017
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
92018
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
92018
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
92017
Continuous-time collision avoidance for trajectory optimization in dynamic environments
W Merkt, V Ivan, S Vijayakumar
IEEE IROS 2019, 2019
42019
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
42018
Comparing metrics for robustness against external perturbations in dynamic trajectory optimization
H Ferrolho, W Merkt, C Tiseo, S Vijayakumar
arXiv preprint arXiv:1908.05380, 2019
32019
Optimizing dynamic trajectories for robustness to disturbances using polytopic projections
H Ferrolho, W Merkt, V Ivan, W Wolfslag, S Vijayakumar
arXiv preprint arXiv:2003.00609, 2020
22020
Towards shared autonomy applications using whole-body control formulations of locomanipulation
W Merkt, V Ivan, Y Yang, S Vijayakumar
2019 IEEE 15th International Conference on Automation Science and …, 2019
22019
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
22019
A Direct-Indirect Hybridization Approach to Control-Limited DDP
C Mastalli, W Merkt, J Marti-Saumell, J Sola, N Mansard, S Vijayakumar
arXiv preprint arXiv:2010.00411, 2020
12020
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
12020
Whole-Body End-Pose Planning on Uneven and Inclined Surfaces
H Ferrolho, V Ivan, Y Yang, W Merkt, RJF Rossetti, S Vijayakumar
Portuguese Conference on Artificial Intelligence (EPIA)(under review), 2017
12017
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar
arXiv preprint arXiv:2010.05359, 2020
2020
Memory Clustering using Persistent Homology for Multimodality-and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
W Merkt, V Ivan, T Dinev, I Havoutis, S Vijayakumar
arXiv preprint arXiv:2010.01024, 2020
2020
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments
MN Finean, W Merkt, I Havoutis
arXiv preprint arXiv:2008.00969, 2020
2020
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Artiklar 1–20