Publications

Embodied Vision Autonomous Motion Movement Generation and Control Conference Paper Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion Dhédin, V., Li, H., Khorshidi, S., Mack, L., Ravi, A. K. C., Meduri, A., Shah, P., Grimminger, F., Righetti, L., Khadiv, M., et al. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (Published) preprint video DOI URL BibTeX

Movement Generation and Control Conference Paper Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots Gazar, A., Khadiv, M., Kleff, S., DelPrete, A., Righetti, L. In Robotics Research, :420-435, Springer Proceedings in Advanced Robotics, 27, (Editors: Billard, Aude and Asfour, Tamim and Khatib, Oussama), Springer, Cham, 20th International Symposium on Robotics Research (ISRR 2022), September 2022 (Published) DOI URL BibTeX

Movement Generation and Control Conference Paper iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations Hammoud, B., Jordana, A., Righetti, L. In 2022 American Control Conference (ACC 2022), :3550-3557, IEEE, Piscataway, NJ, American Control Conference (ACC 2022), June 2022 (Published) DOI BibTeX

Movement Generation and Control Conference Paper Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent Shah, P., Meduri, A., Merkt, W., Khadiv, M., Havoutis, I., Righetti, L. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2021) , IEEE, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021) in Prague, Czech Republic., September 2021, Accepted (Accepted) URL BibTeX

Movement Generation and Control Conference Paper High-frequency nonlinear model predictive control of a manipulator Kleff, S., Meduri, A., Budhiraja, R., Mansard, N., Righetti, L. In 2021 IEEE International Conference on Robotics and Automation (ICRA), :7330-7336 , The 2021 International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published) DOI BibTeX

Movement Generation and Control Conference Paper Meta-Learning via Learned Loss Bechtle, S., Molchanov, A., Chebotar, Y., Grefenstette, E., Righetti, L., Sukhatme, G., Meier, F. In 2020 25th International Conference on Pattern Recognition (ICPR), IEEE, January 2021 (Published) BibTeX

Movement Generation and Control Conference Paper Crocoddyl: An efficient and versatile framework for multi-contact optimal control Mastalli, C., Budhiraja, R., Merkt, W., Saurel, G., Hammoud, B., Naveau, M., Carpentier, J., Righetti, L., Vijayakumar, S., Mansard, N. In Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, International Conference on Robotics and Automation, May 2020 (Published) BibTeX

Autonomous Motion Movement Generation and Control Conference Paper Leveraging Contact Forces for Learning to Grasp Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L., Bohg, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019, IEEE, International Conference on Robotics and Automation, May 2019 () video arXiv BibTeX

Movement Generation and Control Autonomous Motion Conference Paper An MPC Walking Framework With External Contact Forces Mason, S., Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :1785-1790, IEEE, Brisbane, Australia, May 2018 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Task-Specific Dynamics to Improve Whole-Body Control Gams, A., Mason, S., Ude, A., Schaal, S., Righetti, L. In Hua, IEEE, Beijing, China, November 2018 () URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper On Time Optimization of Centroidal Momentum Dynamics Ponton, B., Herzog, A., Del Prete, A., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :5776-5782, IEEE, Brisbane, Australia, 2018 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Unsupervised Contact Learning for Humanoid Estimation and Control Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :411-417, IEEE, Brisbane, Australia, 2018 () DOI URL BibTeX

Movement Generation and Control Conference Paper Pattern Generation for Walking on Slippery Terrains Khadiv, M., Moosavian, S. A. A., Herzog, A., Righetti, L. In 2017 5th International Conference on Robotics and Mechatronics (ICROM), Iran, August 2017 () URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation Ponton, B., Herzog, A., Schaal, S., Righetti, L. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots Humanoids, :842-849, IEEE, Cancun, Mexico, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints Mason, S., Rotella, N., Schaal, S., Righetti, L. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), :63-68, IEEE, Cancun, Mexico, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Inertial Sensor-Based Humanoid Joint State Estimation Rotella, N., Mason, S., Schaal, S., Righetti, L. In 2016 IEEE International Conference on Robotics and Automation (ICRA), :1825-1831, IEEE, Stockholm, Sweden, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions Ponton, B., Schaal, S., Righetti, L. In The 12th International Workshop on the Algorithmic Foundations of Robotics WAFR, Berkeley, USA, 2016 () URL BibTeX

Movement Generation and Control Conference Paper Step Timing Adjustement: a Step toward Generating Robust Gaits Khadiv, M., Herzog, A., Moosavian, S. A. A., Righetti, L. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), :35-42, IEEE, Cancun, Mexico, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment Khadiv, M., Kleff, S., Herzog, A., Moosavian, S. A. A., Schaal, S., Righetti, L. In 2016 4th International Conference on Robotics and Mechatronics (ICROM), :130-135, IEEE, Teheran, Iran, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Structured contact force optimization for kino-dynamic motion generation Herzog, A., Schaal, S., Righetti, L. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :2703-2710, IEEE, Daejeon, South Korea, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Humanoid Momentum Estimation Using Sensed Contact Wrenches Rotella, N., Herzog, A., Schaal, S., Righetti, L. In 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), :556-563, IEEE, Seoul, South Korea, 2015 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Trajectory generation for multi-contact momentum control Herzog, A., Rotella, N., Schaal, S., Righetti, L. In 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), :874-880, IEEE, Seoul, South Korea, 2015 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics Herzog, A., Righetti, L., Grimminger, F., Pastor, P., Schaal, S. In 2014 IEEE/RSJ Conference on Intelligent Robots and Systems, :981-988, IEEE, Chicago, USA, 2014 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Dual Execution of Optimized Contact Interaction Trajectories Toussaint, M., Ratliff, N., Bohg, J., Righetti, L., Englert, P., Schaal, S. In 2014 IEEE/RSJ Conference on Intelligent Robots and Systems, :47-54, IEEE, Chicago, USA, 2014 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Full Dynamics LQR Control of a Humanoid Robot: An Experimental Study on Balancing and Squatting Mason, S., Righetti, L., Schaal, S. In 2014 IEEE-RAS International Conference on Humanoid Robots, :374-379, IEEE, Madrid, Spain, 2014 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper State Estimation for a Humanoid Robot Rotella, N., Bloesch, M., Righetti, L., Schaal, S. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, :952-958, IEEE, Chicago, USA, 2014 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Objective Functions for Manipulation Kalakrishnan, M., Pastor, P., Righetti, L., Schaal, S. In 2013 IEEE International Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Task Error Models for Manipulation Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G. S., Schaal, S. In 2013 IEEE Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 () DOI URL BibTeX

Movement Generation and Control Conference Paper AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots Hutter, M., Bloesch, M., Buchli, J., Semini, C., Bazeille, S., Righetti, L., Bohg, J. In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), :1-4, IEEE, Linköping, Sweden, 2013 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Encoding of Periodic and their Transient Motions by a Single Dynamic Movement Primitive Ernesti, J., Righetti, L., Do, M., Asfour, T., Schaal, S. In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), :57-64, IEEE, Osaka, Japan, November 2012 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Force Control Policies for Compliant Robotic Manipulation Kalakrishnan, M., Righetti, L., Pastor, P., Schaal, S. In ICML’12 Proceedings of the 29th International Coference on International Conference on Machine Learning, :49-50, Edinburgh, Scotland, 2012 () BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Probabilistic depth image registration incorporating nonvisual information Wüthrich, M., Pastor, P., Righetti, L., Billard, A., Schaal, S. In 2012 IEEE International Conference on Robotics and Automation, :3637-3644, IEEE, Saint Paul, USA, 2012 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Quadratic programming for inverse dynamics with optimal distribution of contact forces Righetti, L., Schaal, S. In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), :538-543, IEEE, Osaka, Japan, November 2012 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Template-based learning of grasp selection Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Asfour, T., Schaal, S. In 2012 IEEE International Conference on Robotics and Automation, :2379-2384, IEEE, Saint Paul, USA, 2012 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Towards Associative Skill Memories Pastor, P., Kalakrishnan, M., Righetti, L., Schaal, S. In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), :309-315, IEEE, Osaka, Japan, November 2012 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Control of legged robots with optimal distribution of contact forces Righetti, L., Buchli, J., Mistry, M., Schaal, S. In 2011 11th IEEE-RAS International Conference on Humanoid Robots, :318-324, IEEE, Bled, Slovenia, 2011 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Inverse Dynamics Control of Floating-Base Robots with External Constraints: a Unified View Righetti, L., Buchli, J., Mistry, M., Schaal, S. In 2011 IEEE International Conference on Robotics and Automation, :1085-1090, IEEE, Shanghai, China, 2011 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Force Control Policies for Compliant Manipulation Kalakrishnan, M., Righetti, L., Pastor, P., Schaal, S. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, :4639-4644, IEEE, San Francisco, USA, sep 2011 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Motion Primitive Goals for Robust Manipulation Stulp, F., Theodorou, E., Kalakrishnan, M., Pastor, P., Righetti, L., Schaal, S. In IEEE/RSJ International Conference on Intelligent Robots and Systems, :325-331, IEEE, San Francisco, USA, sep 2011 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Online movement adaptation based on previous sensor experiences Pastor, P., Righetti, L., Kalakrishnan, M., Schaal, S. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, :365-371, IEEE, San Francisco, USA, sep 2011 () DOI URL BibTeX

Movement Generation and Control Conference Paper Operational Space Control of Constrained and Underactuated Systems Mistry, M., Righetti, L. In Proceedings of Robotics: Science and Systems, Los Angeles, CA, USA, June 2011 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Constrained Accelerations for Controlled Geometric Reduction: Sagittal-Plane Decoupling for Bipedal Locomotion Gregg, R., Righetti, L., Buchli, J., Schaal, S. In 2010 10th IEEE-RAS International Conference on Humanoid Robots, :1-7, IEEE, Nashville, USA, 2010 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Inverse dynamics with optimal distribution of ground reaction forces for legged robot Righetti, L., Buchli, J., Mistry, M., Schaal, S. In Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR), :580-587, Nagoya, Japan, sep 2010 () DOI BibTeX

Movement Generation and Control Conference Paper Modelling the interplay of central pattern generation and sensory feedback in the neuromuscular control of running Daley, M., Righetti, L., Ijspeert, A. In Comparative Biochemistry and Physiology - Part A: Molecular & Integrative Physiology. Annual Main Meeting for the Society for Experimental Biology, 153, Glasgow, Scotland, 2009 () DOI URL BibTeX

Movement Generation and Control Conference Paper A modular bio-inspired architecture for movement generation for the infant-like robot iCub Degallier, S., Righetti, L., Natale, L., Nori, F., Metta, G., Ijspeert, A. In 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, :795-800, IEEE, Scottsdale, USA, October 2008 () DOI URL BibTeX

Movement Generation and Control Conference Paper A Dynamical System for Online Learning of Periodic Movements of Unknown Waveform and Frequency Gams, A., Righetti, L., Ijspeert, A., Lenarčič, J. In 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, :85-90, IEEE, Scottsdale, USA, October 2008 () DOI URL BibTeX

Movement Generation and Control Conference Paper Experimental Study of Limit Cycle and Chaotic Controllers for the Locomotion of Centipede Robots Matthey, L., Righetti, L., Ijspeert, A. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, :1860-1865, IEEE, Nice, France, sep 2008 () DOI URL BibTeX

Movement Generation and Control Conference Paper Passive compliant quadruped robot using central pattern generators for locomotion control Rutishauser, S., Sproewitz, A., Righetti, L., Ijspeert, A. In 2008 IEEE International Conference on Biomedical Robotics and Biomechatronics, :710-715, IEEE, Scottsdale, USA, October 2008 () DOI URL BibTeX

Movement Generation and Control Conference Paper Pattern generators with sensory feedback for the control of quadruped locomotion Righetti, L., Ijspeert, A. In 2008 IEEE International Conference on Robotics and Automation, :819-824, IEEE, Pasadena, USA, 2008 () DOI URL BibTeX

Movement Generation and Control Conference Paper Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach Degallier, S., Righetti, L., Ijspeert, A. In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, :2047-2052, IEEE, San Diego, USA, 2007 () DOI URL BibTeX

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