Robotics

Morphological symmetries in robotics
International Journal of Robotics Research (Conditional accept IJRR-2024)
Daniel Ordonez-Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martin, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
Code arXiv
Morphological symmetries in robotics
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modeling
Learning for dynamics and control 2024 (L4DC - 2024)
Daniel Ordonez-Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
PDF Code Project Poster Slides PMLR
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modeling
Leveraging Symmetry in RL-based Legged Locomotion Control
International Conference on Intelligent Robots and Systems 2024 (IROS - 2024)
Zhi Su, Xiaoyu Huang, Daniel Ordonez-Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
PDF arxiv
Leveraging Symmetry in RL-based Legged Locomotion Control
On discrete symmetries of robotic systems: A data-driven and group-theoretic analysis
Robotics Science and Systems (RSS - 2023)
Daniel Ordonez-Apraez, Antonio Agudo, Mario Martin, Francesc Moreno-Noguer
Project Video DOI arXiv github
On discrete symmetries of robotic systems: A data-driven and group-theoretic analysis
MorphoSymm
Tools for exploiting Discrete Morphological Symmetries (DMS) in rigid body dynamics using Equivariant Neural Networks
Code code
MorphoSymm
An Adaptable Approach to Learn Realistic Legged Locomotion without Examples
International Conference on Robotics and Automation (ICRA - 2022)
Daniel Ordonez-Apraez, Antonio Agudo, Mario Martin, Francesc Moreno-Noguer
Video arXiv Videos
An Adaptable Approach to Learn Realistic Legged Locomotion without Examples
Spring-loaded Inverted Pendulum (SLIP) Control
Python utility functions for control and visualization of SLIP
code
Spring-loaded Inverted Pendulum (SLIP) Control
[EP-Patent] Autonomous Drum and Inliner Handling
Published European and US patent EP4112238A1/US2023009062A1.
Daniel Ordonez-Apraez, Carl-Helmut Coulon, INVITE GmbH
PDF Project Video
[EP-Patent] Autonomous Drum and Inliner Handling
[Master Thesis] Learning to run naturally: Guiding policies with the Spring-Loaded Inverted Pendulum
In this work, we proposed a new approach for learning legged locomotion for any legged robot, in the sagittal plane, by using a …
Daniel Felipe Ordoñez Apraez, Mario Martin, Francesc Moreno-Noger
PDF Cite Slides
[Master Thesis] Learning to run naturally: Guiding policies with the Spring-Loaded Inverted Pendulum
INVITE Robotics research platform
ROS packages to simulate and operate all of INVITE’s robotics hardware
code
INVITE Robotics research platform