Edo Jelavic
ETH Zurich
21 Papers
21 Citations
Edo Jelavic is an academic researcher from ETH Zurich. The author has contributed to research in topics: Computer science & Trajectory optimization. The author has an hindex of 6, co-authored 16 publications.
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Papers
Real-time motion planning of legged robots: A model predictive control approach
Farbod Farshidian,Edo Jelavic,Asutosh Satapathy,Markus Giftthaler,Jonas Buchli +4 more
- 01 Jan 2017
TL;DR: In this article, a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots is proposed. But the performance of the approach is limited to a quadruped robot for generating dynamic gaits such as trotting.
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Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
TL;DR: In this paper, a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots is proposed. But the performance of the approach is limited to a quadruped robot for generating dynamic gaits such as trotting.
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Offline motion libraries and online MPC for advanced mobility skills
Marko Bjelonic,Ruben Grandia,Moritz Geilinger,Oliver Harley,Vivian Suzano Medeiros,Vuk Pajovic,Edo Jelavic,Stelian Coros,Marco Hutter +8 more
TL;DR: In this paper , an optimization-based framework is proposed to perform complex locomotion skills for robots with legs and wheels, by combining offline motion libraries and online model predictive control (MPC), uniting a complex, long-time horizon plan with reactive, short time horizon solutions.
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Autonomous Drift Parking using a Switched Control Strategy with Onboard Sensors
TL;DR: This paper proposes a control strategy to quickly park a vehicle in a narrow space using a high side slip angle maneuver, or ‘drift parking’ maneuver, and uses an open source, low cost 1/10 scale RC vehicle developed at UC Berkeley.
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HEAP -- The autonomous walking excavator
Dominic Jud,Simon Kerscher,Martin Wermelinger,Edo Jelavic,Pascal Egli,Philipp Leemann,Gabriel Hottiger,Marco Hutter +7 more
TL;DR: In this article, an autonomous walking excavator based on one of the most versatile machines found on construction sites is described. And the authors highlight the machine's potential in four different real-world applications, e.g. autonomous trench digging, autonomous assembly of dry stone walls, autonomous forestry work and semi-autonomous teleoperation.
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