Zobrazeno 1 - 4
of 4
pro vyhledávání: '"Angelo Bratta"'
Autor:
Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad
Publikováno v:
IEEE Access, Vol 9, Pp 145710-145727 (2021)
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test in experiments a real-time Nonlinear Model Predictive Control (NMPC) t
Externí odkaz:
https://doaj.org/article/00d6119675544068b478e38e457d3b4b
Publikováno v:
Robotics, Vol 12, Iss 1, p 6 (2023)
Model predictive control (MPC) approaches are widely used in robotics, because they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the tracking terms
Externí odkaz:
https://doaj.org/article/c0b5cb4f43d34931bed3a2c4944f2078
Autor:
Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is crucial for
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::569c02ec65431ee0bef8fde897c9e4ed
https://hdl.handle.net/11562/1073306
https://hdl.handle.net/11562/1073306
Autor:
Giovanni Gerardo Muscolo, Claudio Semini, Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol
Publikováno v:
ICRA
Politecnico di Torino-IRIS
Politecnico di Torino-IRIS
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajector
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8664cc27068d9f5b1ea64de38d91d368
https://hdl.handle.net/11567/1106159
https://hdl.handle.net/11567/1106159