Zobrazeno 1 - 2
of 2
pro vyhledávání: '"Gulich, Lionel"'
Autor:
Klemm, Victor, Morra, Alessandro, Gulich, Lionel, Mannhart, Dominik, Rohr, David, Kamel, Mina, de Viragh, Yvain, Siegwart, Roland
Publikováno v:
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3745-3752, April 2020
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex
Externí odkaz:
http://arxiv.org/abs/2005.11431
Autor:
Klemm, Victor, Morra, Alessandro, Salzmann, Ciro, Tschopp, Florian, Bodie, Karen, Gulich, Lionel, Küng, Nicola, Mannhart, Dominik, Pfister, Corentin, Vierneisel, Marcus, Weber, Florian, Deuber, Robin, Siegwart, Roland
Publikováno v:
2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 7515-7521
Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics. A system with these specifications would be of great use for a wide range of in
Externí odkaz:
http://arxiv.org/abs/2005.11435