Zobrazeno 1 - 8
of 8
pro vyhledávání: '"Eric A. Cousineau"'
Publikováno v:
IEEE Transactions on Robotics. 34:370-387
Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but has significant implementation difficulties when applied to the high degrees of freedom humanoids. The primary impediment is the process of gait design—it is diff
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e958a2d94bfd39b0b031f2ccc20e75cc
https://doi.org/10.1109/tro.2017.2783371
https://doi.org/10.1109/tro.2017.2783371
Autor:
Robert O. Ambrose, Heather Bibby, Michael Conover, Barrett Ames, Jide Akinyode, Chad Tobler, Brian J. Wightman, Lily Truong, Ryan W. Sinnet, Adam H. Tulsa Parsons, Jordan Lack, Aaron D. Ames, Chien-Liang Fok, Lyndon Bridgwater, Andrew G. Lee, Charles Blakely, Christopher McQuin, Ryan Reed, Raymond Guo, Nicholas Paine, Rochelle Rea, Mason M. Markee, Reginald B. Berka, Brett Sommers, Gwendolyn Johnson, Matthew J. Powell, Nicolaus A. Radford, Kimberly Hambuchen, David Chesney, Philip A. Strawser, Benjamin J. Morris, Robert W. Platt, Courtney Edmondson, Brice Howard, Joshua S. Mehling, A. Stuart Donnan, Nathan Fraser-Chanpong, John D. Yamokoski, Luis Sentis, Stephen Hart, Eric A. Cousineau, William K. Verdeyen, Lei Niu, Jairo Sanchez, James Holley, Paul Dinh, Vienny Nguyen
Publikováno v:
Journal of Field Robotics. 32:397-419
In December 2013, 16 teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics Challenge DRC Trials, an aggressive robotics competition partly inspired by the aftermath of the Fukushima Daiichi rea
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::40269bda7ccabd4472e75dfea099f1b9
https://doi.org/10.1002/rob.21560
https://doi.org/10.1002/rob.21560
Publikováno v:
ICRA
This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a hardware platform capable of these behaviors, the design of DURUS combines highl
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::5194311fdff6c068a957223c401d77b4
https://doi.org/10.1109/icra.2016.7487325
https://doi.org/10.1109/icra.2016.7487325
Publikováno v:
ICRA
Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees of freedom present in humanoid robots. The primary impedimen
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6295d0b295b24f15ab041f3e181eb9b8
https://doi.org/10.1109/icra.2016.7487279
https://doi.org/10.1109/icra.2016.7487279
Publikováno v:
ICRA
This paper addresses the problem of controlling underactuated bipedal walking robots in the presence of actuator torque saturation. The proposed method synthesizes elements of the Human-Inspired Control (HIC) approach for generating provably-stable w
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::fb7c786bf9378ae5a6f2f0791640aee1
https://doi.org/10.1109/icra.2015.7139912
https://doi.org/10.1109/icra.2015.7139912
Publikováno v:
ICRA
Hybrid zero dynamics (HZD) has emerged as a popular framework for the stable control of bipedal robotic gaits, but typically designing a gait's virtual constraints is a slow and undependable optimization process. To expedite and boost the reliability
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c9a4e0b1f5490dc4e866fa9cfd2dd5da
https://doi.org/10.1109/icra.2015.7140002
https://doi.org/10.1109/icra.2015.7140002
Autor:
Eric A. Cousineau, Aaron D. Ames
Publikováno v:
ICRA
This paper presents experimentally realized bipedal robotic walking using ideal torque controllers via a novel approach termed the ideal model resolved motion method (IM-RMM), where a system's ideal closed-loop dynamics are integrated forward from th
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::658959b018e598ff91f477a06feb62d9
https://doi.org/10.1109/icra.2015.7140004
https://doi.org/10.1109/icra.2015.7140004
Publikováno v:
HSCC
This paper demonstrates the process of utilizing human locomotion data to formally design controllers that yield provably stable robotic walking and experimentally realizing these formal methods to achieve dynamically stable bipedal robotic walking o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6056dea8c1e49090ed65dd0ba1475fe0
https://doi.org/10.1145/2185632.2185655
https://doi.org/10.1145/2185632.2185655