Dr Wolfgang Merkt
Experience-driven optimal motion synthesis in complex and shared environments
My work focused on trajectory optimisation and optimal control for high-dimensional systems in complex environments, e.g. loco-manipulation on humanoids (Valkyrie), quadrupeds, and mobile manipulation systems. Particular focii were on i) collision avoidance for optimisation-based approaches and ii) initialisation/warm-start strategies to increase optimisation success rates and reduce computation times.