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Wolfgang Merkt
Wolfgang Merkt
Senior Researcher, Oxford Robotics Institute
Verified email at robots.ox.ac.uk - Homepage
Title
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Cited by
Year
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
1702019
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
272018
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
272017
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
192018
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
172017
A Feasibility-Driven Approach to Control-Limited DDP
C Mastalli, W Merkt, J Marti-Saumell, H Ferrolho, J Sola, N Mansard, ...
Autonomous Robots, 2022
16*2022
Continuous-time collision avoidance for trajectory optimization in dynamic environments
W Merkt, V Ivan, S Vijayakumar
IEEE IROS 2019, 2019
162019
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
162019
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
152016
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
132017
Inverse dynamics vs. forward dynamics in direct transcription formulations for trajectory optimization
H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar
2021 IEEE International Conference on Robotics and Automation (ICRA), 12752 …, 2021
102021
Optimizing dynamic trajectories for robustness to disturbances using polytopic projections
H Ferrolho, W Merkt, V Ivan, W Wolfslag, S Vijayakumar
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
102020
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
102018
A passive navigation planning algorithm for collision-free control of mobile robots
C Tiseo, V Ivan, W Merkt, I Havoutis, M Mistry, S Vijayakumar
2021 IEEE International Conference on Robotics and Automation (ICRA), 8223-8229, 2021
82021
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
82020
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
82019
Agile Maneuvers in Legged Robots: a Predictive Control Approach
C Mastalli, W Merkt, G Xin, J Shim, M Mistry, I Havoutis, S Vijayakumar
arXiv preprint arXiv:2203.07554, 2022
72022
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar
arXiv preprint arXiv:2203.01446, 2022
72022
Rapid convex optimization of centroidal dynamics using block coordinate descent
P Shah, A Meduri, W Merkt, M Khadiv, I Havoutis, L Righetti
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
72021
Predicted composite signed-distance fields for real-time motion planning in dynamic environments
MN Finean, W Merkt, I Havoutis
Proceedings of the International Conference on Automated Planning and …, 2021
72021
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