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of 267
pro vyhledávání: '"Leonessa, Alexander"'
Autor:
Herron, Connor W., Fuge, Alexander J., Beiter, Benjamin C., Fuge, Zachary J., Tremaroli, Nicholas J., Welch, Stephen, Stelmack, Maxwell, Kogelis, Madeline, Hancock, Philip, Simoes, Ivan Fischman Ekman, Runyon, Christian, Pressgrove, Isaac, Leonessa, Alexander
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic element i
Externí odkaz:
http://arxiv.org/abs/2407.18558
Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to instability due to
Externí odkaz:
http://arxiv.org/abs/2304.04911
Autor:
Dafarra, Stefano, Pattacini, Ugo, Romualdi, Giulio, Rapetti, Lorenzo, Grieco, Riccardo, Darvish, Kourosh, Milani, Gianluca, Valli, Enrico, Sorrentino, Ines, Viceconte, Paolo Maria, Scalzo, Alessandro, Traversaro, Silvio, Sartore, Carlotta, Elobaid, Mohamed, Guedelha, Nuno, Herron, Connor, Leonessa, Alexander, Draicchio, Francesco, Metta, Giorgio, Maggiali, Marco, Pucci, Daniele
Publikováno v:
Science Robotics, 24th January 2024
We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia (IIT). More precisely, the contribution of the paper is twof
Externí odkaz:
http://arxiv.org/abs/2203.06972
Detecting and preventing slip is a major challenge in robotic hand operation, underpinning the robot's ability to perform safe and reliable grasps. Using the robotic hand design from the authors' earlier work, a sensing and control strategy is propos
Externí odkaz:
http://arxiv.org/abs/2202.06140
Publikováno v:
In Robotics and Autonomous Systems January 2024 171
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address high-dimensional and co
Externí odkaz:
http://arxiv.org/abs/1904.03158
Akademický článek
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Publikováno v:
Humanoid Robots (Humanoids), 2017 IEEE-RAS 17th International Conference on
Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of knee-bend can
Externí odkaz:
http://arxiv.org/abs/1709.03669
Publikováno v:
2018 IEEE International Conference on Robotics and Automation
We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg configura
Externí odkaz:
http://arxiv.org/abs/1709.03660