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pro vyhledávání: '"Marew, Daniel"'
Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the kicking leg,
Externí odkaz:
http://arxiv.org/abs/2407.14612
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive control,
Externí odkaz:
http://arxiv.org/abs/2405.17227
Autor:
Perera, Nisal, Yu, Shangqun, Marew, Daniel, Tang, Mack, Suzuki, Ken, McCormack, Aidan, Zhu, Shifan, Kim, Yong-Jae, Kim, Donghyun
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe and a co-actuation configuration inspired by the human leg. Leveragin
Externí odkaz:
http://arxiv.org/abs/2404.05039
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion
In this paper, we present a Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspired algorithm for fusing multiple task-space policies (RMPs) into a conf
Externí odkaz:
http://arxiv.org/abs/2210.03713
In this paper, we present a novel Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspired algorithm for fusing multiple task-space policies (RMPs) into
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::dfb2dbe29c12fc1c6d2f78184c927238