Henrique Ferrolho
Henrique Ferrolho
Senior Robotics Research Engineer
Verified email at - Homepage
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A Feasibility-Driven Approach to Control-Limited DDP
C Mastalli, W Merkt, J Marti-Saumell, H Ferrolho, J Sola, N Mansard, ...
Autonomous Robots, 2022
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
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar
Autonomous Robots, 2023
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
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), 2021
Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories
H Ferrolho, W Merkt, C Tiseo, S Vijayakumar
Robotics and Autonomous Systems (RAS) 142, 103814, 2021
Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments
H Ferrolho, W Merkt, Y Yang, V Ivan, S Vijayakumar
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids …, 2018
Robustness to External Disturbances for Legged Robots Using Dynamic Trajectory Optimisation
HMM Ferrolho
University of Edinburgh, 2022
Whole-Body End-Pose Planning for High-Degree-of-Freedom Robots on Uneven and Inclined Surfaces
HMM Ferrolho
University of Porto, 2017
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