Zobrazeno 1 - 10
of 44
pro vyhledávání: '"Chávez, Francisco Javier"'
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, have not yet been developed to work similarly closely with humans, and to effectively convey information when engaging in ph
Externí odkaz:
http://arxiv.org/abs/2408.05301
Autor:
Ramadoss, Prashanth, Romualdi, Giulio, Dafarra, Stefano, Chavez, Francisco Javier Andrade, Traversaro, Silvio, Pucci, Daniele
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically meaningful
Externí odkaz:
http://arxiv.org/abs/2105.14914
Autor:
Romualdi, Giulio, Dafarra, Stefano, Hu, Yue, Ramadoss, Prashanth, Chavez, Francisco Javier Andrade, Traversaro, Silvio, Pucci, Daniele
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, si
Externí odkaz:
http://arxiv.org/abs/1911.13233
Autor:
Sorrentino, Ines, Chavez, Francisco Javier Andrade, Latella, Claudia, Fiorio, Luca, Traversaro, Silvio, Rapetti, Lorenzo, Tirupachuri, Yeshasvi, Guedelha, Nuno, Maggiali, Marco, Dussoni, Simeone, Metta, Giorgio, Pucci, Daniele
Publikováno v:
A Novel Sensorised Insole for Sensing Feet Pressure Distributions. Sensors 2020, 20, 747
Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor's spatial resolution is about 4 taxels/c
Externí odkaz:
http://arxiv.org/abs/1910.06370
Autor:
Shafiee, Milad, Romualdi, Giulio, Dafarra, Stefano, Chavez, Francisco Javier Andrade, Pucci, Daniele
Publikováno v:
2019 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS)
We present a computationally efficient method for online planning of bipedal walking trajectories with push recovery. In particular, the proposed methodology fits control architectures where the Divergent-Component-of-Motion (DCM) is planned beforeha
Externí odkaz:
http://arxiv.org/abs/1909.10403
Autor:
Darvish, Kourosh, Tirupachuri, Yeshasvi, Romualdi, Giulio, Rapetti, Lorenzo, Ferigo, Diego, Chavez, Francisco Javier Andrade, Pucci, Daniele
Publikováno v:
2019 IEEE-RAS International Conference on Humanoid Robots
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid robots usin
Externí odkaz:
http://arxiv.org/abs/1909.10080
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP based controllers are: the control input often experiences discontinuiti
Externí odkaz:
http://arxiv.org/abs/1907.11906
Autor:
Chavez, Francisco Javier Andrade, Nava, Gabriele, Traversaro, Silvio, Nori, Francesco, Pucci, Daniele
It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F/T). The temperature drift can be considerable if an experiment is lon
Externí odkaz:
http://arxiv.org/abs/1812.00650
Autor:
Chavez, Francisco Javier Andrade, Kangro, Joan, Traversaro, Silvio, Nori, Francesco, Pucci, Daniele
In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors. To deal with gaps between the tactile sensors (taxels), we use interpolation techniques. The application of
Externí odkaz:
http://arxiv.org/abs/1709.06902
This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage of the knowledge of the model of the robot to generate the expected w
Externí odkaz:
http://arxiv.org/abs/1610.03305