Zobrazeno 1 - 6
of 6
pro vyhledávání: '"Filippo M. Smaldone"'
Publikováno v:
Frontiers in Robotics and AI, Vol 9 (2022)
We present a real time algorithm for humanoid 3D walking and/or running based on a Model Predictive Control (MPC) approach. The objective is to generate a stable gait that replicates a footstep plan as closely as possible, that is, a sequence of cand
Externí odkaz:
https://doaj.org/article/f32aa02b07d94ca2b33f79867904e3c0
Publikováno v:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a1edde7798956b5ab409bf11779b9368
https://doi.org/10.1109/iros47612.2022.9981419
https://doi.org/10.1109/iros47612.2022.9981419
Publikováno v:
IEEE Robotics and Automation Letters. 6:1582-1589
The feasibility region of a Model Predictive Control (MPC) algorithm is the subset of the state space in which the constrained optimization problem to be solved is feasible. In our recent Intrinsically Stable MPC (IS-MPC) method for humanoid gait gen
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3b02eeb9f6fff2af788cf02de888d72c
https://doi.org/10.1109/lra.2021.3059627
https://doi.org/10.1109/lra.2021.3059627
Publikováno v:
ICRA
We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of disturbances. The considered disturbance signals vary in a range of known amplitude around a mid-ra
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::699ae00cfe6fea7961b875b53a75f111
http://hdl.handle.net/11573/1469560
http://hdl.handle.net/11573/1469560
We introduce a robust gait generation framework for humanoid robots based on our Intrinsically Stable Model Predictive Control (IS-MPC) scheme, which features a stability constraint to guarantee internal stability. With respect to the original versio
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::88344eb9bca8880dd45b20a42b710870
http://hdl.handle.net/11573/1482486
http://hdl.handle.net/11573/1482486
Publikováno v:
Humanoids
Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more challenging, as it can cause a loss of balance and ultimately lead the the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b65430fdd05c021bacae5652d7e97fd1
http://hdl.handle.net/11573/1385077
http://hdl.handle.net/11573/1385077