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Bernard Aceituno
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Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
B Aceituno-Cabezas, C Mastalli, H Dai, M Focchi, A Radulescu, ...
IEEE Robotics and Automation Letters 3 (3), 2531-2538, 2018
1852018
A Global Quasi-Dynamic Model for Contact-Trajectory Optimization
B Aceituno-Cabezas, A Rodriguez
Robotics: Science and Systems (RSS), 2020
40*2020
A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain
B Aceituno-Cabezas, H Dai, J Cappelletto, JC Grieco, ...
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2017
212017
Certified Grasping
B Aceituno-Cabezas, J Ballester, A Rodriguez
2019 International Symposium on Robotics Research (ISRR), 2019
13*2019
A generalized mixed-integer convex program for multilegged footstep planning on uneven terrain
B Aceituno-Cabezas, J Cappelletto, JC Grieco, G Fernández-López
arXiv preprint arXiv:1612.02109, 2016
92016
A hierarchical framework for long horizon planning of object-contact trajectories
B Aceituno, A Rodriguez
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
52022
A Convex-Combinatorial Model for Planar Caging
B Aceituno-Cabezas, H Dai, A Rodriguez
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
52019
A differentiable recipe for learning visual non-prehensile planar manipulation
B Aceituno, A Rodriguez, S Tulsiani, A Gupta, M Mukadam
Conference on Robot Learning, 137-147, 2022
32022
An Optimization Approach to Certified Manipulation
B Aceituno
Massachusetts Institute of Technology, 2023
2023
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