Zobrazeno 1 - 10
of 98
pro vyhledávání: '"FOCCHI, MICHELE"'
Tracked vehicles are used in complex scenarios, where motion planning and navigation can be very complex. They have complex dynamics, with many parameters that are difficult to identify and that change significantly based on the operating conditions.
Externí odkaz:
http://arxiv.org/abs/2409.18641
Autor:
Focchi, Michele, Del Prete, Andrea, Fontanelli, Daniele, Frego, Marco, Peer, Angelika, Palopoli, Luigi
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for human inte
Externí odkaz:
http://arxiv.org/abs/2403.15142
Publikováno v:
Sensors 2024, 24(15), 4981
In this work, we consider the complex control problem of making a monopod reach a target with a jump. The monopod can jump in any direction and the terrain underneath its foot can be uneven. This is a template of a much larger class of problems, whic
Externí odkaz:
http://arxiv.org/abs/2309.07038
Publikováno v:
IEEE Robotics and Automation Letters (RA-L), 2023
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult when high
Externí odkaz:
http://arxiv.org/abs/2305.07748
The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed us to sort
Externí odkaz:
http://arxiv.org/abs/2305.02107
Autor:
Bussola, Riccardo1 (AUTHOR) riccardobussola00@gmail.com, Focchi, Michele1 (AUTHOR) luigi.palopoli@unitn.it, Del Prete, Andrea2 (AUTHOR) andrea.delprete@unitn.it, Fontanelli, Daniele2 (AUTHOR) daniele.fontanelli@unitn.it, Palopoli, Luigi1 (AUTHOR)
Publikováno v:
Sensors (14248220). Aug2024, Vol. 24 Issue 15, p4981. 15p.
Publikováno v:
21st International Conference on Ubiquitous Robots (UR) 2024
In legged logomotion, online trajectory optimization techniques generally depend on heuristic-based contact planners in order to have low computation times and achieve high replanning frequencies. In this work, we propose ContactNet, a fast acyclic c
Externí odkaz:
http://arxiv.org/abs/2209.15566
Autor:
Focchi, Michele, Bensaadallah, Mohamed, Frego, Marco, Peer, Angelika, Fontanelli, Daniele, Del Prete, Andrea, Palopoli, Luigi
Publikováno v:
ICRA 2023
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can negotiate up-t
Externí odkaz:
http://arxiv.org/abs/2209.09693
Publikováno v:
Sensors, 23, 2023, 3, 1234
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent 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 moveme
Externí odkaz:
http://arxiv.org/abs/2208.12066
Model Predictive Control (MPC) approaches are widely used in robotics, since they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the tracking terms an
Externí odkaz:
http://arxiv.org/abs/2207.10175