ODRI Solo-12
Overview:
- 12 DoFs
- Quadruped
- Open Source and cost effective
- Lightweight and highly dynamic
- Torque controlled with transparent actuators (low reduction ratios)
Main usages:
- Model predictive control
- Whole body control
- Contact interaction
- State estimation
| Publications |
|---|
| Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control
Wilson Jallet, Ewen Dantec, Etienne Arlaud, Justin Carpentier, Nicolas Mansard RSS, 2024 |
| Proxddp: Proximal constrained trajectory optimization
Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah El-Kazdadi, Nicolas Mansard, Justin Carpentier T-RO, 2023 |
| Risk-Sensitive Extended Kalman Filter
Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti hal-04107207, 2023 |
Locomotion
Control
Estimation