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On discrete symmetries of robotic systems: A data-driven and group-theoretic analysis
Study of morphological symmetries of dynamical systems and their implications for learning algorithms.
Daniel Ordonez-Apraez
,
Antonio Agudo
,
Mario Martin
,
Francesc Moreno-Noguer
Project
Video
DOI
arXiv
github
MorphoSymm
Tools for exploiting Discrete Morphological Symmetries (DMS) in rigid body dynamics using Equivariant Neural Networks
Code
code
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
Spring-loaded Inverted Pendulum (SLIP) Control
Python utility functions for control and visualization of SLIP
code
[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
[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
INVITE Robotics research platform
ROS packages to simulate and operate all of INVITE’s robotics hardware
code
Robotiq 2-Finger Grippers Controller
ROS package to control and simulate robotiq grippers series C
code
6DoF Force Sensor ROS Utils
ROS package with utility functions for the processing of
geometry_msgs/WrenchStamped
and
geometry_msgs/Wrench
messages coming from any
6DoF
force torque sensor.
code
Cite
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