Zobrazeno 1 - 10
of 210
pro vyhledávání: '"Caron, Stéphane"'
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position and wrench
Externí odkaz:
http://arxiv.org/abs/2103.02906
Publikováno v:
ICRA, May 2020, Paris, France
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an adm
Externí odkaz:
http://arxiv.org/abs/1909.13696
Autor:
Caron, Stéphane
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP that is s
Externí odkaz:
http://arxiv.org/abs/1909.07732
Autor:
Orsolino, Romeo, Focchi, Michele, Caron, Stéphane, Raiola, Gennaro, Barasuol, Victor, Semini, Claudio
Publikováno v:
IEEE Transactions on Robotics (TRO) 2020
In legged locomotion the projection of the robot Center of Mass (CoM) being inside the convex hull of the contact points is a commonly accepted sufficient condition to achieve static balancing. However, some of these configurations cannot be realized
Externí odkaz:
http://arxiv.org/abs/1903.07999
Publikováno v:
IEEE International Conference on Robotics and Automation, May 2019, Montr{\'e}al, France. \&\#x27E8;10.1109/ICRA.2019.8794348\&\#x27E9
We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before. In partic
Externí odkaz:
http://arxiv.org/abs/1809.07073
Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. We generalize this analysis to the variable-height inverted pendulum (VHIP) and show how it enables 3D walking over
Externí odkaz:
http://arxiv.org/abs/1801.07022
Autor:
Caron, Stéphane, Mallein, Bastien
Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but only work in the 2D sagittal plane; on the other hand, nonconvex direct t
Externí odkaz:
http://arxiv.org/abs/1709.06456
Autor:
Caron, Stéphane, Kheddar, Abderrahmane
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of generality, we consi
Externí odkaz:
http://arxiv.org/abs/1703.00688
Autor:
Caron, Stéphane, Pham, Quang-Cuong
We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature of this solution is that, contrary to existing planners where step tim
Externí odkaz:
http://arxiv.org/abs/1609.04600