Zobrazeno 1 - 10
of 11
pro vyhledávání: '"Jan Carius"'
Publikováno v:
The International Journal of Robotics Research, 41 (2)
Modern robotic systems are expected to operate robustly in partially unknown environments. This article proposes an algorithm capable of controlling a wide range of high-dimensional robotic systems in such challenging scenarios. Our method is based o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bbebda466c70a224cce0ef5653933788
https://pubmed.ncbi.nlm.nih.gov/35694721
https://pubmed.ncbi.nlm.nih.gov/35694721
Autor:
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Löje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark Mueller, Maurice Fallon, Kostas Alexis
Publikováno v:
Field Robotics, 2
Field Robotics
Field Robotics
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems, as underground settings present key challenges that can render robot autonomy hard to achieve. This problem has motivated the DARPA Subterranean Cha
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::53fa9040a9f45dfd3e0bd89a8d017b0c
https://hdl.handle.net/20.500.11850/489726
https://hdl.handle.net/20.500.11850/489726
Publikováno v:
2021 IEEE International Conference on Robotics and Automation (ICRA)
ICRA
ICRA
We present a learning algorithm for training a single policy that imitates multiple gaits of a walking robot. To achieve this, we use and extend MPC-Net, which is an Imitation Learning approach guided by Model Predictive Control (MPC). The strategy o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ae1e47a7f8f84d2d050d6ccfbe84a706
https://hdl.handle.net/20.500.11850/476607
https://hdl.handle.net/20.500.11850/476607
Publikováno v:
Journal of Field Robotics. 35:1342-1357
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::3476d0e77a41ed36e59a777f4838c87a
https://doi.org/10.1002/rob.21825
https://doi.org/10.1002/rob.21825
Publikováno v:
IEEE Robotics and Automation Letters, 4 (3)
The dynamics of legged systems are characterized by under-actuation, instability, and contact state switching. We present a trajectory optimization method for generating physically consistent motions under these conditions. By integrating a custom so
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9bea5a9cceb08b681505fde789ef8661
Publikováno v:
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact model is assumed, and the unilateral constraints are imposed in the form o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a9f51ca8d12097aefaeebab231ff75ac
https://hdl.handle.net/20.500.11850/438125
https://hdl.handle.net/20.500.11850/438125
Publikováno v:
IEEE Robotics and Automation Letters, 3 (4)
We present a contact invariant trajectory optimization formulation to synthesize motions for legged robotic systems. The method is capable of finding optimal trajectories subject to whole body dynamics with hard contacts. Contact switches are determi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1b038ce398bea4e5da45e1bf72959e4e
Autor:
Marco Hutter, Markus Stäuble, Michael Neunert, Carmine Dario Bellicoso, Markus Giftthaler, Jonas Buchli, Christian Gehring, Jan Carius
Publikováno v:
IEEE Robotics and Automation Letters, 3 (3)
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes explicit contact dynamics. Therefore, contact locations, sequences and
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f7bc250194aa681b9ae5ea78230a0c17
http://arxiv.org/abs/1712.02889
http://arxiv.org/abs/1712.02889
Publikováno v:
Springer Proceedings in Advanced Robotics, 5
Field and Service Robotics
Field and Service Robotics ISBN: 9783319673608
FSR
Field and Service Robotics
Field and Service Robotics ISBN: 9783319673608
FSR
This work presents the system and approach we employed to tackle thesecond challenge of the Mohamed Bin Zayed International Robotics Challenge(MBZIRC). The goal of this challenge is to find a tool panel on a field, pickan appropriate wrench from the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a3c5c2793eafeea75970a2d7afea43a7
Publikováno v:
IEEE Robotics and Automation Letters, 5 (2)
We present an Imitation Learning approach for the control of dynamical systems with a known model. Our policy search method is guided by solutions from MPC. Typical policy search methods of this kind minimize a distance metric between the guiding dem
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::021bb1b5cf7caa40feb368ec40ead21c