This winter school is organized as part of the H2020 MEMMO project. This is an internal school reserved for students from MEMMO project partners and by invitation.

Topics

Here is a list of topics that will be covered during this school

  • Movement primitives
  • Pinocchio: kinematics and derivatives in C++ and python
  • Optimal control solvers
  • Contact planner
  • Walking robot navigation and state estimation
  • Motion planning for legged locomotion (tentative title, probably focus on quadrupedal locomotion)
  • Motion planning workflow for the atalante exoskeleton
  • TALOS control system architecture and whole body controller
  • Deep RL
  • QP-based task-space inverse
  • Dynamics: theory and implementation
  • Robust optimization with application to task-space inverse dynamics
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