Zobrazeno 1 - 5
of 5
pro vyhledávání: '"Bernardo Aceituno-Cabezas"'
Publikováno v:
The International Journal of Robotics Research. :027836492311559
This paper studies robustness in planar grasping from a geometric perspective. By treating grasping as a process that shapes the free-space of an object over time, we can define three types of certificates to guarantee success of a grasp: (a) invaria
Publikováno v:
Robotics: Science and Systems
Autor:
Michele Focchi, José Cappelletto, Gerardo Fernandez-Lopez, Juan C. Grieco, Bernardo Aceituno-Cabezas, Darwin G. Caldwell, Carlos Mastalli, Andreea Radulescu, Claudio Semini, Hongkai Dai
Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::91fc18bfa9f6e8de9a69b9cf59061cf5
http://arxiv.org/abs/1904.04595
http://arxiv.org/abs/1904.04595
Publikováno v:
IROS
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often serves as a w
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::69490d0030c1d4520d18fda72b91a292
Autor:
José Cappelletto, Hongkai Dai, Juan C. Grieco, Gerardo Fernandez-Lopez, Bernardo Aceituno-Cabezas
Publikováno v:
IROS
This paper introduces an optimization-based framework for robust multilegged walking motion planning. Previous approaches use fixed gait sequences, and rely on Zero Moment Point (ZMP) to guarantee dynamic stability. While this combination works well