Leg Centroidal Dynamics Based New Locomotion Principle of a Quadruped Robot with On-line Legged Motion Generation

Autor: Faiz Benamar, Mohamed Fnadi, Wenqian Du, Etienne Moullet

Publikováno v: Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems, Springer Verlag, 2021, 103 (4), pp.70. ⟨10.1007/s10846-021-01503-1⟩

This paper proposes a novel legged locomotion principle for tracking the quadruped-robot base spatial motion which can generate automatically the trotting and walking gaits without flight phases. The principle is based on a new legged locomotion gene

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::cb84d84f77f07c12a4cf36bd4dd6e6a3
https://doi.org/10.1007/s10846-021-01503-1

A Two-Step Optimization-Based Synthesis of Squat Movements

Autor: Vincent Padois, Faiz Benamar, Bach Quoc Hoa, Eric Desailly

Publikováno v: Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body, Motion and Behavior ISBN: 9783030778163
HCI (16)
International Conference on Human-Computer Interaction
International Conference on Human-Computer Interaction, Jul 2021, Washington DC, United States. pp.122-138, ⟨10.1007/978-3-030-77817-0_11⟩

In this paper, we explore the use of numerical optimization techniques to synthesize realistic human-like squat motions. For this purpose, a two-step optimization-based synthesis scheme, inspired by whole-body controllers from robotics, is proposed.

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a246942429c5890db09e0e97abe30223
https://doi.org/10.1007/978-3-030-77817-0_11

A compact form dynamics controller for a high-dof tetrapod-on-wheel robot with one manipulator via null space based convex optimization and compatible impedance controllers

Autor: Wenqian Du, Faiz Benamar

Publikováno v: Multibody System Dynamics
Multibody System Dynamics, Springer Verlag, 2020, 49 (4), pp.447-463. ⟨10.1007/s11044-020-09728-y⟩

International audience; This paper develops a compact form dynamics controller to generate multi-compliant behaviors for a new designed Tetrapod-on-wheel robot with one manipulator. The wholebody compliant torque controller is stated through one null

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5f58fccebdb72e356223dd10a507f456
https://hal.archives-ouvertes.fr/hal-03177955/document

Whole-body motion tracking for a quadruped-on-wheel robot via a compact-form controller with improved prioritized optimization

Autor: Wenqian Du, Mohamed Fnadi, Faiz Benamar

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, IEEE 2020, 5 (2), pp.516-523. ⟨10.1109/LRA.2019.2963822⟩

International audience; This paper develops a more general dynamics controller to generate whole-body behaviors for a quadrupedon-wheel robot. To track the quadruped centroidal motion, the wheeled motion is achieved by combining the wheel contact con

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c72389183d09b85777c52be75908ab3a
https://hal.archives-ouvertes.fr/hal-03177954/file/final.pdf

Model predictive control based dynamic path tracking of a four-wheel steering mobile robot

Autor: Frédéric Plumet, Mohamed Fnadi, Faiz Benamar

Publikováno v: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), 2019, Macao, Unknown Region. pp.1-9
IROS

This paper develops a new constrained model predictive control for a dynamic path tracking of an off-road mobile robot with a double steering axle. The controller is based on a dynamic model that includes wheel-ground lateral slippage and terrain geo

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::29808f517e6499692a527e2226d3fbc6
https://hal.archives-ouvertes.fr/hal-03135865