Institute Homepage
Institute Homepage Sign In

Publications

DEPARTMENTS

Emperical Interference

Haptic Intelligence

Modern Magnetic Systems

Perceiving Systems

Physical Intelligence

Robotic Materials

Social Foundations of Computation

Research Groups

Autonomous Vision

Autonomous Learning

Bioinspired Autonomous Miniature Robots

Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

Intelligent Control Systems

Learning and Dynamical Systems

Locomotion in Biorobotic and Somatic Systems

Micro, Nano, and Molecular Systems

Movement Generation and Control

Neural Capture and Synthesis

Physics for Inference and Optimization

Organizational Leadership and Diversity

Probabilistic Learning Group

Topics

Robot Learning

Conference Paper

2022

Autonomous Learning

Robotics

AI

Career

Award

Movement Generation and Control Empirical Inference Autonomous Motion Article BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning Meduri, A., Shah, P., Viereck, J., Khadiv, M., Havoutis, I., Righetti, L. IEEE Transactions on Robotics, 39(2):905-922, IEEE, 2023 (Published) DOI URL BibTeX
Movement Generation and Control Empirical Inference Article Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization Bogdanovic, M., Khadiv, M., Righetti, L. Frontiers in Robotics and AI, 9, August 2022 (Published) DOI BibTeX
Movement Generation and Control Article Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation Jordana, A., Hammoud, B., Carpentier, J., Righetti, L. IEEE Control Systems Letters, 6:3241-3246, IEEE, Piscataway, NJ, USA, 2022 (Published) DOI BibTeX
Movement Generation and Control Article Robust walking based on MPC with viability guarantees Yeganegi, M. H., Khadiv, M., Prete, A. D., Moosavian, S. A. A., Righetti, L. IEEE Transactions on Robotics, October 2021, Accepted (Accepted) URL BibTeX
Empirical Inference Software Workshop Movement Generation and Control Article The o80 C++ templated toolbox: Designing customized Python APIs for synchronizing realtime processes Berenz, V., Naveau, M., Widmaier, F., Wüthrich, M., Passy, J., Guist, S., Büchler, D. Journal of Open Source Software, 6(66), October 2021 (Published) DOI URL BibTeX
Movement Generation and Control Article Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control Hammoud, B., Khadiv, M., Righetti, L. IEEE Robotics and Automation Letters, Robotics and Automation Letters, 6(3):4766-4773, IEEE, July 2021 (Published) DOI URL BibTeX
Movement Generation and Control Article Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control Daneshmand, E., Khadiv, M., Grimminger, F., Righetti, L. IEEE Robotics and Automation Letters, 6(2):2349-2356, April 2021 (Published) DOI URL BibTeX
Movement Generation and Control Article Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics Ponton, B., Khadiv, M., Meduri, A., Righetti, L. IEEE Transactions on Robotics, 37(5):1661-1679, IEEE, February 2021 (Published) DOI URL BibTeX
Intelligent Control Systems Movement Generation and Control Probabilistic Numerics Empirical Inference Article Robot Learning with Crash Constraints Marco, A., Baumann, D., Khadiv, M., Hennig, P., Righetti, L., Trimpe, S. IEEE Robotics and Automation Letters, 6(2):1439-1446, IEEE, February 2021 (Published) DOI URL BibTeX
Movement Generation and Control Article Reactive Balance Control for Legged Robots under Visco-Elastic Contacts Flayols, T., Prete, A. D., Khadiv, M., Mansard, N., Righetti, L. Applied Sciences, 11(1), MDPI, 2021 (Published) DOI URL BibTeX
Movement Generation and Control Article Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback Gazar, A., Nava, G., Chavez, F. J. A., Pucci, D. IEEE Transactions on Robotics, 37(1):1-15, IEEE, 2021 (Published) DOI BibTeX
Movement Generation and Control Article On the use of simulation in robotics: Opportunities challenges, and suggestions for moving forward Choi, H., Crump, C., Duriez, C., Elmquist, A., Hager, G., Han, D., Hearl, F., Hodgins, J., Jain, A., Leve, F., et al. PNAS, 118(1), December 2020 (Published) DOI BibTeX
Movement Generation and Control Article Learning Variable Impedance Control for Contact Sensitive Tasks Bogdanovic, M., Khadiv, M., Righetti, L. IEEE Robotics and Automation Letters, 5(4), IEEE, October 2020 (Published) DOI BibTeX
Movement Generation and Control Article Walking Control Based on Step Timing Adaptation Khadiv, M., Herzog, A., Moosavian, S. A. A., Righetti, L. IEEE Transactions on Robotics, 36(3):629-643, IEEE, June 2020 (Published) DOI URL BibTeX
Dynamic Locomotion Movement Generation and Control Autonomous Motion Empirical Inference Robotics Article An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., Wüthrich, M., Naveau, M., Berenz, V., Heim, S., Widmaier, F., Flayols, T., et al. IEEE Robotics and Automation Letters, 5(2):3650-3657, IEEE, April 2020 (Published) Youtube Open Dynamic Robot Initiative DOI URL BibTeX
Movement Generation and Control Article Robust Humanoid Contact Planning with Learned Zero-and One-Step Capturability Prediction Lin, Y., Righetti, L., Berenson, D. IEEE Robotics and Automation Letters, Robotics and Automation Letters, 5:2451-2458, IEEE, February 2020 (Published) BibTeX
Movement Generation and Control Article Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues] Bretl, T., Righetti, L., Madhavan, R. IEEE Robotics & Automation Magazine, 26, December 2019 () BibTeX
Movement Generation and Control Article Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues] Righetti, L., Madhavan, R., Chatila, R. IEEE Robotics & Automation Magazine, 26, September 2019 (Published) BibTeX
Movement Generation and Control Article Optimal Stair Climbing Pattern Generation for Humanoids Using Virtual Slope and Distributed Mass Model Shahrokhshahi, A., Yousefi-Koma, A., Khadiv, M., Mansouri, S., Mohtasebi, S. S. Journal of Intelligent and Robotics Systems, 94:1:43-59, April 2019 (Published) DOI BibTeX
Movement Generation and Control Article A Robustness Analysis of Inverse Optimal Control of Bipedal Walking Rebula, J. R., Schaal, S., Finley, J., Righetti, L. IEEE Robotics and Automation Letters, 4(4):4531-4538, 2019 (Published) DOI BibTeX
Movement Generation and Control Article Birch tar production does not prove Neanderthal behavioral complexity Schmidt, P., Blessing, M., Rageot, M., Iovita, R., Pfleging, J., Nickel, K. G., Righetti, L., Tennie, C. Proceedings of the National Academy of Sciences (PNAS), 116(36):17707-17711, 2019 (Published) DOI BibTeX
Movement Generation and Control Article Rigid vs compliant contact: an experimental study on biped walking Khadiv, M., Moosavian, S. A. A., Yousefi-Koma, A., Sadedel, M., Ehsani-Seresht, A., Mansouri, S. Multibody System Dynamics, 45(4):379-401, 2019 (Published) DOI BibTeX
Perceiving Systems Movement Generation and Control Article Robust Physics-based Motion Retargeting with Realistic Body Shapes Borno, M. A., Righetti, L., Black, M. J., Delp, S. L., Fiume, E., Romero, J. Computer Graphics Forum, 37:6:1-12, July 2018 () pdf video BibTeX
Movement Generation and Control Article Learning a Structured Neural Network Policy for a Hopping Task. Viereck, J., Kozolinsky, J., Herzog, A., Righetti, L. IEEE Robotics and Automation Letters, 3(4):4092-4099, October 2018 () DOI URL BibTeX
Movement Generation and Control Article Lethal Autonomous Weapon Systems [Ethical, Legal, and Societal Issues] Righetti, L., Pham, Q., Madhavan, R., Chatila, R. IEEE Robotics \& Automation Magazine, 25(1):123-126, March 2018 () DOI URL BibTeX
Movement Generation and Control Article The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues] Pham, Q., Madhavan, R., Righetti, L., Smart, W., Chatila, R. IEEE Robotics and Automation Magazine, 25(2):126-128, June 2018 () DOI URL BibTeX
Movement Generation and Control Autonomous Motion Article Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid Herzog, A., Rotella, N., Mason, S., Grimminger, F., Schaal, S., Righetti, L. Autonomous Robots, 40(3):473-491, 2016 () DOI URL BibTeX
Movement Generation and Control Article Kinematic and gait similarities between crawling human infants and other quadruped mammals Righetti, L., Nylen, A., Rosander, K., Ijspeert, A. Frontiers in Neurology, 6(17), February 2015 () DOI URL BibTeX
Movement Generation and Control Autonomous Motion Article An autonomous manipulation system based on force control and optimization Righetti, L., Kalakrishnan, M., Pastor, P., Binney, J., Kelly, J., Voorhies, R. C., Sukhatme, G. S., Schaal, S. Autonomous Robots, 36(1-2):11-30, January 2014 () DOI URL BibTeX
Movement Generation and Control Autonomous Motion Article Learning of grasp selection based on shape-templates Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Bohg, J., Asfour, T., Schaal, S. Autonomous Robots, 36(1-2):51-65, January 2014 () DOI URL BibTeX
Movement Generation and Control Article Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation Gregg, R., Righetti, L. IEEE Transactions on Automatic Control, 58(10):2679-2685, October 2013 () DOI URL BibTeX
Movement Generation and Control Autonomous Motion Article Optimal distribution of contact forces with inverse-dynamics control Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S. The International Journal of Robotics Research, 32(3):280-298, March 2013 () DOI URL BibTeX
Movement Generation and Control Article Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives Degallier, S., Righetti, L., Gay, S., Ijspeert, A. Autonomous Robots, 31(2-3):155-181, October 2011 () DOI URL BibTeX
Movement Generation and Control Article Adaptive Frequency Oscillators and Applications Righetti, L., Buchli, J., Ijspeert, A. The Open Cybernetics \& Systemics Journal, 3:64-69, 2009 () URL BibTeX
Movement Generation and Control Article Frequency analysis with coupled nonlinear oscillators Buchli, J., Righetti, L., Ijspeert, A. Physica D: Nonlinear Phenomena, 237(13):1705-1718, August 2008 () DOI URL BibTeX
Movement Generation and Control Article iCub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research Tsagarakis, N., Metta, G., Sandini, G., Vernon, D., Beira, R., Becchi, F., Righetti, L., Santos-Victor, J., Ijspeert, A., Carrozza, M., et al. Advanced Robotics, 21(10):1151-1175, 2007 () DOI URL BibTeX
Movement Generation and Control Article Dynamic Hebbian learning in adaptive frequency oscillators Righetti, L., Buchli, J., Ijspeert, A. Physica D: Nonlinear Phenomena, 216(2):269-281, 2006 () DOI URL BibTeX
Movement Generation and Control Article Engineering Entrainment and Adaptation in Limit Cycle Systems – From biological inspiration to applications in robotics Buchli, J., Righetti, L., Ijspeert, A. Biological Cybernetics, 95(6):645-664, December 2006 () DOI URL BibTeX