Dr. Luca Rossini and Dr. Francesco Ruscelli spent two weeks in our lab in Nancy as invited researchers within the ANR Project MeRLin under the collaboration between the INRIA team LARSEN and the HHCM Lab at the Italian Institute of Technology to develop full-body
receding horizon controllers. During this period we had nice discussions and presentations about software for whole-body control, MPC, and Reinforcement learning. During this period we also worked together on integrating the locomotion controller which was developed using the Horizon framework, into the TALOS robot. The receding horizon controller operates open-loop at 20 Hz, sending joint-level commands to the low-level joint-impedance controller.