Zobrazeno 1 - 10
of 117
pro vyhledávání: '"Claudio Semini"'
Autor:
Chie Takahashi, Barry Lennox, Claudio Semini, Manuel Giuliani, Young Soo Park, William R. Hamel
Publikováno v:
Frontiers in Robotics and AI, Vol 10 (2023)
Externí odkaz:
https://doaj.org/article/4a79496f1c354ab5b3bbcd1a72baba38
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
Publikováno v:
Sensors, Vol 23, Iss 3, p 1234 (2023)
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However, these move
Externí odkaz:
https://doaj.org/article/9926948970f94f7bbd0815285b0e6950
Autor:
Chie Takahashi, Manuel Giuliani, Barry Lennox, William R. Hamel, Rustam Stolkin, Claudio Semini
Publikováno v:
Frontiers in Robotics and AI, Vol 8 (2021)
Externí odkaz:
https://doaj.org/article/d32a8aa28220441799c5429db033ced4
Publikováno v:
Sensors, Vol 22, Iss 8, p 2967 (2022)
Legged robots are meant to autonomously navigate unstructured environments for applications like search and rescue, inspection, or maintenance. In autonomous navigation, a close relationship between locomotion and perception is crucial; the robot has
Externí odkaz:
https://doaj.org/article/08c1cfe830a24922b6d4e9c18760de85
Publikováno v:
Frontiers in Robotics and AI, Vol 7 (2020)
In the context of legged robotics, many criteria based on the control of the Center of Mass (CoM) have been developed to ensure a stable and safe robot locomotion. Defining a whole-body framework with the control of the CoM requires a planning strate
Externí odkaz:
https://doaj.org/article/fb5b674fc1e44ef4b0386118293cdf27
Autor:
Victor Barasuol, Octavio A. Villarreal-Magaña, Dhinesh Sangiah, Marco Frigerio, Mike Baker, Robert Morgan, Gustavo A. Medrano-Cerda, Darwin Gordon Caldwell, Claudio Semini
Publikováno v:
Frontiers in Robotics and AI, Vol 5 (2018)
Hydraulic actuation is the most widely used alternative to electric motors for legged robots and manipulators. It is often selected for its high power density, robustness and high-bandwidth control performance that allows the implementation of force/
Externí odkaz:
https://doaj.org/article/39ed578646d5474781eb8c9d11f09b58
Autor:
Hamza Khan, Mariapaola D’Imperio, Ferdinando Cannella, Darwin G. Caldwell, Alfred Cuschieri, Claudio Semini
Publikováno v:
Sensors, Vol 17, Iss 8, p 1905 (2017)
During recent decades, strain gauge-based joint torque sensors have been commonly used to provide high-fidelity torque measurements in robotics. Although measurement of joint torque/force is often required in engineering research and development, the
Externí odkaz:
https://doaj.org/article/72d2e45a104a4f90a0c693828f20981e
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds. If these
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bc889afcad321c59613c276b3fc5e5cc
http://arxiv.org/abs/2212.01246
http://arxiv.org/abs/2212.01246
