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pro vyhledávání: '"Melon, Oliwier"'
Autor:
Melon, Oliwier, Orsolino, Romeo, Surovik, David, Geisert, Mathieu, Havoutis, Ioannis, Fallon, Maurice
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that enables f
Externí odkaz:
http://arxiv.org/abs/2104.09078
Autor:
Mitchell, Alexander L., Engelcke, Martin, Jones, Oiwi Parker, Surovik, David, Gangapurwala, Siddhant, Melon, Oliwier, Havoutis, Ioannis, Posner, Ingmar
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are often non
Externí odkaz:
http://arxiv.org/abs/2007.01520
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a longer time
Externí odkaz:
http://arxiv.org/abs/2002.06719