Wolfgang Merkt
Wolfgang Merkt
Postdoctoral Research Assistant, Oxford Robotics Institute
Verified email at robots.ox.ac.uk - Homepage
Title
Cited by
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
372019
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
152017
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
142018
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
132019
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
132016
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
122017
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
102018
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
102017
Continuous-time collision avoidance for trajectory optimization in dynamic environments
W Merkt, V Ivan, S Vijayakumar
IEEE IROS 2019, 2019
72019
Optimizing dynamic trajectories for robustness to disturbances using polytopic projections
H Ferrolho, W Merkt, V Ivan, W Wolfslag, S Vijayakumar
arXiv preprint arXiv:2003.00609, 2020
42020
Towards shared autonomy applications using whole-body control formulations of locomanipulation
W Merkt, V Ivan, Y Yang, S Vijayakumar
2019 IEEE 15th International Conference on Automation Science and …, 2019
42019
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
42019
Comparing metrics for robustness against external perturbations in dynamic trajectory optimization
H Ferrolho, W Merkt, C Tiseo, S Vijayakumar
arXiv preprint arXiv:1908.05380, 2019
42019
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
42018
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
32020
A Direct-Indirect Hybridization Approach to Control-Limited DDP
C Mastalli, W Merkt, J Marti-Saumell, J Sola, N Mansard, S Vijayakumar
arXiv preprint arXiv:2010.00411, 2020
22020
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
C Tiseo, W Merkt, KK Babarahmati, W Wolfslag, S Vijayakumar, M Mistry
IEEE BioRob 2020, 2020
22020
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
C Tiseo, V Ivan, W Merkt, I Havoutis, M Mistry, S Vijayakumar
arXiv preprint arXiv:2011.00390, 2020
12020
Modeling and control of a hybrid wheeled jumping robot
T Dinev, S Xin, W Merkt, V Ivan, S Vijayakumar
arXiv preprint arXiv:2003.01440, 2020
12020
Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories
H Ferrolho, W Merkt, C Tiseo, S Vijayakumar
arXiv preprint arXiv:1908.05380, 2019
12019
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Articles 1–20