Zobrazeno 1 - 6
of 6
pro vyhledávání: '"Jean-Pierre Sleiman"'
Publikováno v:
IEEE Robotics and Automation Letters, 6 (3)
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::497701fb341762f1278c530fb5a4a11f
https://doi.org/10.1109/lra.2021.3068908
https://doi.org/10.1109/lra.2021.3068908
Autor:
Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti, Burak Cizmeci, Douwe Dresscher, Marco Hutter
Publikováno v:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, 5276-5281
STARTPAGE=5276;ENDPAGE=5281;TITLE=IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
STARTPAGE=5276;ENDPAGE=5281;TITLE=IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly addressed. In
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5195fd9be4fe54d990f78a2ccfea66f2
https://doi.org/10.1109/iros51168.2021.9636642
https://doi.org/10.1109/iros51168.2021.9636642
Publikováno v:
ICRA
2021 IEEE International Conference on Robotics and Automation (ICRA)
arXiv
2021 IEEE International Conference on Robotics and Automation (ICRA)
arXiv
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current planning strategi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0ad06ee93a4f923681982e3e15840464
http://arxiv.org/abs/2104.11685
http://arxiv.org/abs/2104.11685
Publikováno v:
2021 IEEE International Conference on Robotics and Automation (ICRA)
ICRA
ICRA
The Sequential Linear Quadratic (SLQ) algorithm is a continuous-time version of the well-known Differential Dynamic Programming (DDP) technique with a Gauss-Newton Hessian approximation. This family of methods has gained popularity in the robotics co
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f9874ba0143dd582cd6a66076eaedf89
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:
Construction Research Congress 2016.
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::790cc96168d99155ac95a5e2ea035314
https://doi.org/10.1061/9780784479827.261
https://doi.org/10.1061/9780784479827.261