Zobrazeno 1 - 10
of 56
pro vyhledávání: '"Mastalli, Carlos"'
Optimal estimation is a promising tool for multi-contact inertial estimation and localization. To harness its advantages in robotics, it is crucial to solve these large and challenging optimization problems efficiently. To tackle this, we (i) develop
Externí odkaz:
http://arxiv.org/abs/2403.17161
Autor:
Ordoñez-Apraez, Daniel, Turrisi, Giulio, Kostic, Vladimir, Martin, Mario, Agudo, Antonio, Moreno-Noguer, Francesc, Pontil, Massimiliano, Semini, Claudio, Mastalli, Carlos
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the replicatio
Externí odkaz:
http://arxiv.org/abs/2402.15552
Autor:
Ordoñez-Apraez, Daniel, Kostic, Vladimir, Turrisi, Giulio, Novelli, Pietro, Mastalli, Carlos, Semini, Claudio, Pontil, Massimiliano
We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces. These are lower-dimensional spaces that capture distinct, symmetric, and synergistic motions. For linear dynamics,
Externí odkaz:
http://arxiv.org/abs/2312.07457
Autor:
Chhatoi, Saroj Prasad, Pierallini, Michele, Angelini, Franco, Mastalli, Carlos, Garabini, Manolo
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for achieving highly d
Externí odkaz:
http://arxiv.org/abs/2306.01934
Autor:
Corbères, Thomas, Mastalli, Carlos, Merkt, Wolfgang, Havoutis, Ioannis, Fallon, Maurice, Mansard, Nicolas, Flayols, Thomas, Vijayakumar, Sethu, Tonneau, Steve
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several steps ahead while generating whole-body motions close to the robot's l
Externí odkaz:
http://arxiv.org/abs/2305.08926
Autor:
Shim, Jaehyun, Mastalli, Carlos, Corbères, Thomas, Tonneau, Steve, Ivan, Vladimir, Vijayakumar, Sethu
Publikováno v:
IEEE International Conference on Robotics and Automation (ICRA), 2023
State-of-the-art approaches to footstep planning assume reduced-order dynamics when solving the combinatorial problem of selecting contact surfaces in real time. However, in exchange for computational efficiency, these approaches ignore joint torque
Externí odkaz:
http://arxiv.org/abs/2303.13726
Autor:
Mastalli, Carlos, Chhatoi, Saroj Prasad, Corbères, Thomas, Tonneau, Steve, Vijayakumar, Sethu
Publikováno v:
IEEE Transactions on Robotics, 2023
Optimal control (OC) using inverse dynamics provides numerical benefits such as coarse optimization, cheaper computation of derivatives, and a high convergence rate. However, to take advantage of these benefits in model predictive control (MPC) for l
Externí odkaz:
http://arxiv.org/abs/2209.05375
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimizing the robot motion. To solve these problems, we can use differentiab
Externí odkaz:
http://arxiv.org/abs/2209.01117
Autor:
Mastalli, Carlos, Merkt, Wolfgang, Xin, Guiyang, Shim, Jaehyun, Mistry, Michael, Havoutis, Ioannis, Vijayakumar, Sethu
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To achieve so, w
Externí odkaz:
http://arxiv.org/abs/2203.07554
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel optimization ap
Externí odkaz:
http://arxiv.org/abs/2103.04660