{"id":374,"date":"2025-02-05T15:02:44","date_gmt":"2025-02-05T13:02:44","guid":{"rendered":"https:\/\/members.loria.fr\/EMingoHoffman\/?p=374"},"modified":"2025-02-05T15:02:44","modified_gmt":"2025-02-05T13:02:44","slug":"collaboration-within-the-anr-project-merlin-between-the-inria-and-iit","status":"publish","type":"post","link":"https:\/\/members.loria.fr\/EMingoHoffman\/collaboration-within-the-anr-project-merlin-between-the-inria-and-iit\/","title":{"rendered":"Collaboration within the ANR Project MeRLin between the INRIA and IIT"},"content":{"rendered":"<p><span class=\"yt-core-attributed-string yt-core-attributed-string--white-space-pre-wrap\" dir=\"auto\"><span class=\"yt-core-attributed-string--link-inherit-color\" dir=\"auto\">Dr. Luca Rossini and Dr. Francesco Ruscelli spent two weeks in our lab in Nancy <\/span><\/span><span class=\"yt-core-attributed-string yt-core-attributed-string--white-space-pre-wrap\" dir=\"auto\"><span class=\"yt-core-attributed-string--link-inherit-color\" dir=\"auto\">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<a href=\"http:\/\/members.loria.fr\/EMingoHoffman\/wp-content\/blogs.dir\/251\/files\/sites\/251\/2025\/02\/Luca_Fruscio_01_25.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-377 alignright\" src=\"http:\/\/members.loria.fr\/EMingoHoffman\/wp-content\/blogs.dir\/251\/files\/sites\/251\/2025\/02\/Luca_Fruscio_01_25-300x225.jpg\" alt=\"\" width=\"231\" height=\"173\" srcset=\"https:\/\/members.loria.fr\/EMingoHoffman\/wp-content\/blogs.dir\/251\/files\/sites\/251\/2025\/02\/Luca_Fruscio_01_25-300x225.jpg 300w, https:\/\/members.loria.fr\/EMingoHoffman\/wp-content\/blogs.dir\/251\/files\/sites\/251\/2025\/02\/Luca_Fruscio_01_25-1024x768.jpg 1024w, https:\/\/members.loria.fr\/EMingoHoffman\/wp-content\/blogs.dir\/251\/files\/sites\/251\/2025\/02\/Luca_Fruscio_01_25-768x576.jpg 768w, https:\/\/members.loria.fr\/EMingoHoffman\/wp-content\/blogs.dir\/251\/files\/sites\/251\/2025\/02\/Luca_Fruscio_01_25-1536x1152.jpg 1536w, https:\/\/members.loria.fr\/EMingoHoffman\/wp-content\/blogs.dir\/251\/files\/sites\/251\/2025\/02\/Luca_Fruscio_01_25.jpg 2016w\" sizes=\"auto, (max-width: 231px) 100vw, 231px\" \/><\/a> receding horizon controllers. During this period we had nice discussions and presentations about software for whole-body control, MPC, and Reinforcement learning. <\/span><\/span><span class=\"yt-core-attributed-string yt-core-attributed-string--white-space-pre-wrap\" dir=\"auto\"><span class=\"yt-core-attributed-string--link-inherit-color\" dir=\"auto\">During this period we also worked together on integrating the locomotion controller which was developed using the <a href=\"https:\/\/github.com\/ADVRHumanoids\/horizon\">Horizon framework<\/a><\/span><span class=\"yt-core-attributed-string--link-inherit-color\" dir=\"auto\">, into the TALOS robot.\u00a0 <\/span><\/span><span class=\"yt-core-attributed-string yt-core-attributed-string--white-space-pre-wrap\" dir=\"auto\"><span class=\"yt-core-attributed-string--link-inherit-color\" dir=\"auto\">The receding horizon controller operates open-loop at 20 Hz, sending joint-level commands to the low-level joint-impedance controller.<\/span><\/span><\/p>\n<p>&nbsp;<\/p>\n\n<!-- iframe plugin v.6.0 wordpress.org\/plugins\/iframe\/ -->\n<iframe loading=\"lazy\" title=\"TALOS Full-Body Locomotion\" src=\"https:\/\/www.youtube.com\/embed\/PGgf6ZnCsw0?si=PbSiAYsmyXhMK6vu\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" scrolling=\"yes\" class=\"iframe-class\"><\/iframe>\n\n","protected":false},"excerpt":{"rendered":"<p>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 [&hellip;]<\/p>\n","protected":false},"author":235,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[6],"tags":[],"class_list":["post-374","post","type-post","status-publish","format-standard","hentry","category-professionnel"],"_links":{"self":[{"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/posts\/374","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/users\/235"}],"replies":[{"embeddable":true,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/comments?post=374"}],"version-history":[{"count":18,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/posts\/374\/revisions"}],"predecessor-version":[{"id":393,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/posts\/374\/revisions\/393"}],"wp:attachment":[{"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/media?parent=374"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/categories?post=374"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/tags?post=374"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}