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pro vyhledávání: '"Gazar, Ahmad"'
Trajectory optimization under uncertainties is a challenging problem for robots in contact with the environment. Such uncertainties are inevitable due to estimation errors, control imperfections, and model mismatches between planning models used for
Externí odkaz:
http://arxiv.org/abs/2309.04469
Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore, disturbances arising
Externí odkaz:
http://arxiv.org/abs/2205.13264
Autor:
Khorshidi, Shahram, Gazar, Ahmad, Rotella, Nicholas, Naveau, Maximilien, Righetti, Ludovic, Bennewitz, Maren, Khadiv, Majid
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor modality is s
Externí odkaz:
http://arxiv.org/abs/2202.12574
Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints satisfaction has only been studied using Robust MPC (RMPC) approaches, w
Externí odkaz:
http://arxiv.org/abs/2005.07555
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP based controllers are: the control input often experiences discontinuiti
Externí odkaz:
http://arxiv.org/abs/1907.11906
Publikováno v:
Springer Proceedings in Advanced Robotics ISBN: 9783031255540
Robotics Research
Springer Proceedings in Advanced Robotics
Robotics Research
Springer Proceedings in Advanced Robotics
Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore, disturbances arising
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9113881f9f6c7fa408708271e305f773
https://doi.org/10.1007/978-3-031-25555-7_29
https://doi.org/10.1007/978-3-031-25555-7_29
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