Zobrazeno 1 - 10
of 23
pro vyhledávání: '"Dangol, Pravin"'
We are seeking control design paradigms for legged systems that allow bypassing costly algorithms that depend on heavy on-board computers widely used in these systems and yet being able to match what they can do by using less expensive optimization-f
Externí odkaz:
http://arxiv.org/abs/2111.12557
In this paper, we study the regulation of the Ground Contact Forces (GRF) in thruster-assisted legged locomotion. We will employ Reference Governors (RGs) for enforcing GRF constraints in Harpy model which is a bipedal robot that is being developed a
Externí odkaz:
http://arxiv.org/abs/2105.12082
Autor:
Dangol, Pravin, Ramezani, Alireza
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling that might
Externí odkaz:
http://arxiv.org/abs/2105.10082
We report the design of a morpho-functional robot called Husky Carbon. Our goal is to integrate two forms of mobility, aerial and quadrupedal-legged locomotion, within a single platform. There are prohibitive design restrictions such as tight power b
Externí odkaz:
http://arxiv.org/abs/2104.05834
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations, e.g., bats
Externí odkaz:
http://arxiv.org/abs/2103.16566
Despite many accomplishments by legged robot designers, state-of-the-art bipedal robots are prone to falling over, cannot negotiate extremely rough terrains and cannot directly regulate unilateral contact forces. Our objective is to integrate merits
Externí odkaz:
http://arxiv.org/abs/2103.15952
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take inspiration from
Externí odkaz:
http://arxiv.org/abs/2103.15948
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats wings exhibit fast wing articulation and can mobilize as many as 40
Externí odkaz:
http://arxiv.org/abs/2103.15943
We will report our efforts in designing feedback for the thruster-assisted walking of a bipedal robot. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the desired joint trajectories to satisfy the performance being
Externí odkaz:
http://arxiv.org/abs/2004.14337
Autor:
Dangol, Pravin, Ramezani, Alireza
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired trajectories to sa
Externí odkaz:
http://arxiv.org/abs/2005.00347