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pro vyhledávání: '"Geisert, Mathieu"'
Autor:
Mitchell, Alexander L., Merkt, Wolfgang, Geisert, Mathieu, Gangapurwala, Siddhant, Engelcke, Martin, Jones, Oiwi Parker, Havoutis, Ioannis, Posner, Ingmar
Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of the in-swing feet midair. In this work we address this limitation and
Externí odkaz:
http://arxiv.org/abs/2205.01179
Autor:
Mitchell, Alexander L., Merkt, Wolfgang, Geisert, Mathieu, Gangapurwala, Siddhant, Engelcke, Martin, Jones, Oiwi Parker, Havoutis, Ioannis, Posner, Ingmar
Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecting from a range of pre-computed styles, current planners are unable to
Externí odkaz:
http://arxiv.org/abs/2112.04809
Autor:
Melon, Oliwier, Orsolino, Romeo, Surovik, David, Geisert, Mathieu, Havoutis, Ioannis, Fallon, Maurice
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that enables f
Externí odkaz:
http://arxiv.org/abs/2104.09078
Autor:
Gangapurwala, Siddhant, Geisert, Mathieu, Orsolino, Romeo, Fallon, Maurice, Havoutis, Ioannis
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and desired bas
Externí odkaz:
http://arxiv.org/abs/2012.03094
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a longer time
Externí odkaz:
http://arxiv.org/abs/2002.06719
Autor:
Geisert, Mathieu
Quelle sont les points communs entre un robot humanoïde et un quadrimoteur ? Et bien, pas grand-chose… Cette thèse est donc dédiée au développement d’algorithmes permettant de contrôler un robot de manière dynamique tout en restant génér
Externí odkaz:
http://www.theses.fr/2018ISAT0011/document
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
Akademický článek
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Autor:
Geisert, Mathieu, Mansard, Nicolas
The recent works on quadrotor have focused on more and more challenging tasks on increasingly complex systems. Systems are often augmented with slung loads, inverted pendulums or arms, and accomplish complex tasks such as going through a window, gras
Externí odkaz:
http://arxiv.org/abs/1602.01949
Akademický článek
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