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pro vyhledávání: '"Flayols, Thomas"'
Parkour poses a significant challenge for legged robots, requiring navigation through complex environments with agility and precision based on limited sensory inputs. In this work, we introduce a novel method for training end-to-end visual policies,
Externí odkaz:
http://arxiv.org/abs/2409.13678
Autor:
Chane-Sane, Elliot, Leziart, Pierre-Alexandre, Flayols, Thomas, Stasse, Olivier, Souères, Philippe, Mansard, Nicolas
Deep Reinforcement Learning (RL) has demonstrated impressive results in solving complex robotic tasks such as quadruped locomotion. Yet, current solvers fail to produce efficient policies respecting hard constraints. In this work, we advocate for int
Externí odkaz:
http://arxiv.org/abs/2403.18765
Autor:
Aractingi, Michel, Léziart, Pierre-Alexandre, Flayols, Thomas, Perez, Julien, Silander, Tomi, Souères, Philippe
Publikováno v:
Scientific Reports, 2023, 13 (11945), pp.12
Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present the first implementation of a robust end-to-end learning-based controller on the Solo1
Externí odkaz:
http://arxiv.org/abs/2309.16683
Autor:
Corbères, Thomas, Mastalli, Carlos, Merkt, Wolfgang, Havoutis, Ioannis, Fallon, Maurice, Mansard, Nicolas, Flayols, Thomas, Vijayakumar, Sethu, Tonneau, Steve
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several steps ahead while generating whole-body motions close to the robot's l
Externí odkaz:
http://arxiv.org/abs/2305.08926
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:
Flayols, Thomas
Dans cette thèse, on s’intéresse à la commande des robots marcheurs. Contrôler ces systèmes naturellement instables, de dynamique non linéaire, non convexe, de grande dimension, et dépendante des contacts représente un défi majeur en robot
Externí odkaz:
http://www.theses.fr/2018ISAT0025/document
Autor:
Grimminger, Felix, Meduri, Avadesh, Khadiv, Majid, Viereck, Julian, Wüthrich, Manuel, Naveau, Maximilien, Berenz, Vincent, Heim, Steve, Widmaier, Felix, Flayols, Thomas, Fiene, Jonathan, Badri-Spröwitz, Alexander, Righetti, Ludovic
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and force con
Externí odkaz:
http://arxiv.org/abs/1910.00093
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Akademický článek
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Autor:
Fadini, Gabriele, Kumar, Shivesh, Kumar, Rohit, Flayols, Thomas, Prete, Andrea, Carpentier, Justin, Souères, Philippe
This paper presents a bi-level optimization framework to concurrently optimize a quadruped hardware and control policies for achieving dynamic cyclic behaviors. The longterm vision to drive the design of dynamic and efficient robots by means of compu
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::038ce08505b1e5b1633348059004e21b
https://hal.laas.fr/hal-04162737
https://hal.laas.fr/hal-04162737