Zobrazeno 1 - 10
of 28
pro vyhledávání: '"Fernbach, Pierre"'
Autor:
Wang, Jiayi, Samadi, Saeid, Wang, Hefan, Fernbach, Pierre, Stasse, Olivier, Vijayakumar, Sethu, Tonneau, Steve
How many ways are there to climb a staircase in a given number of steps? Infinitely many, if we focus on the continuous aspect of the problem. A finite, possibly large number if we consider the discrete aspect, \emph{i.e.} on which surface which effe
Externí odkaz:
http://arxiv.org/abs/2407.12962
Autor:
Villa, Nahuel A, Fernbach, Pierre, Naveau, Maximilien, Saurel, Guilhem, Dantec, Ewen, Mansard, Nicolas, Stasse, Olivier
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these conditions, sta
Externí odkaz:
http://arxiv.org/abs/2210.15205
Autor:
Song, Daeun, Fernbach, Pierre, Flayols, Thomas, Del Prete, Andrea, Mansard, Nicolas, Tonneau, Steve, Kim, Young J.
Publikováno v:
IEEE Robotics and Automation Letters, Volume 6, Issue 3, July 2021
One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placing each footstep on the selected surface. Consequently, footstep plann
Externí odkaz:
http://arxiv.org/abs/2011.09772
Autor:
Lembono, Teguh Santoso, Mastalli, Carlos, Fernbach, Pierre, Mansard, Nicolas, Calinon, Sylvain
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically con
Externí odkaz:
http://arxiv.org/abs/2001.11751
Autor:
Tonneau, Steve, Song, Daeun, Fernbach, Pierre, Mansard, Nicolas, Taix, Michel, Del Prete, Andrea
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variables to represent which contact surface is selected, and then to rely on
Externí odkaz:
http://arxiv.org/abs/1909.09044
Publikováno v:
Towards Autonomous Robotic Systems Conference (TAROS) 2019, Jun 2019, London, United Kingdom
Despite the great progress in quadrupedal robotics during the last decade, selecting good contacts (footholds) in highly uneven and cluttered environments still remains an open challenge. This paper builds upon a state-of-the-art approach, already su
Externí odkaz:
http://arxiv.org/abs/1904.08238
Publikováno v:
In IFAC PapersOnLine 2015 48(21):470-475
Publikováno v:
IEEE-International Conference on Robotics and Automation (ICRA)
International Conference on Robotics and Automation (ICRA)
International Conference on Robotics and Automation (ICRA), IEEE, Aug 2022, Philadelphia (PA), United States
International Conference on Robotics and Automation (ICRA)
International Conference on Robotics and Automation (ICRA), IEEE, Aug 2022, Philadelphia (PA), United States
International audience; While the last two years have seen the rise of many quadruped robots with excellent locomotion capabilities, biped robots are still limited, as they are evolving in a stability zone of reduced size. When transferring a locomot
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::2ab0d5109b67077bb119595b36ee79f7
https://hal.archives-ouvertes.fr/hal-03452196v1/document
https://hal.archives-ouvertes.fr/hal-03452196v1/document
Autor:
Roig, Adria, Kishor Kothakota, Sai, Miguel, Narcis, Fernbach, Pierre, Mingo Hoffman, Enrico, Marchionni, Luca
Publikováno v:
6th Workshop on Legged Robots during the International Conference on Robotics and Automation (ICRA 2022)
6th Workshop on Legged Robots during the International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphie, PA, United States
6th Workshop on Legged Robots during the International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphie, PA, United States
International audience; Humanoid bipedal platforms are finally moving from controlled lab environments to real-world applications in unstructured scenarios. This has been recently achieved with substantial improvements in hardware and software archit
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::8eb7b5629fdf221278bb93682a01fe7c
https://hal.archives-ouvertes.fr/hal-03669855v2/document
https://hal.archives-ouvertes.fr/hal-03669855v2/document
Publikováno v:
2021 IEEE International Conference on Robotics and Automation (ICRA)
2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi’an, China
2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi’an, China
International audience; The combinatorics inherent to the issue of planning legged locomotion can be addressed by decomposing the problem: first, select a guide path abstracting the contacts with a heuristic models; then compute the contact sequence
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::cc3feae15457bb3bcd27ef9f9f4ac0d9
https://hal.archives-ouvertes.fr/hal-02998757
https://hal.archives-ouvertes.fr/hal-02998757