Zobrazeno 1 - 10
of 52
pro vyhledávání: '"Michele Focchi"'
Publikováno v:
Sensors, Vol 24, Iss 15, p 4981 (2024)
We consider a complex control problem: making a monopod accurately reach a target with a single jump. The monopod can jump in any direction at different elevations of the terrain. This is a paradigm for a much larger class of problems, which are extr
Externí odkaz:
https://doaj.org/article/80d74ca46527447fa272c0d1b1d9214f
Autor:
Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad
Publikováno v:
IEEE Access, Vol 9, Pp 145710-145727 (2021)
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test in experiments a real-time Nonlinear Model Predictive Control (NMPC) t
Externí odkaz:
https://doaj.org/article/00d6119675544068b478e38e457d3b4b
Publikováno v:
Robotics, Vol 12, Iss 1, p 6 (2023)
Model predictive control (MPC) approaches are widely used in robotics, because they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the tracking terms
Externí odkaz:
https://doaj.org/article/c0b5cb4f43d34931bed3a2c4944f2078
Publikováno v:
Sensors, Vol 23, Iss 3, p 1234 (2023)
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However, these move
Externí odkaz:
https://doaj.org/article/9926948970f94f7bbd0815285b0e6950
Publikováno v:
Frontiers in Robotics and AI, Vol 7 (2020)
Externí odkaz:
https://doaj.org/article/040fd6337ddd4c29a53c91b350330557
Publikováno v:
Frontiers in Robotics and AI, Vol 7 (2020)
In the context of legged robotics, many criteria based on the control of the Center of Mass (CoM) have been developed to ensure a stable and safe robot locomotion. Defining a whole-body framework with the control of the CoM requires a planning strate
Externí odkaz:
https://doaj.org/article/fb5b674fc1e44ef4b0386118293cdf27
Autor:
Claudio Semini, Gennaro Raiola, Stéphane Caron, Romeo Orsolino, Darwin G. Caldwell, Michele Focchi, Victor Barasuol
Publikováno v:
IEEE Transactions on Robotics. 36:1239-1255
In legged locomotion, the projection of the robot's Center of Mass (CoM) being inside the convex hull of the contact points is a commonly accepted sufficient condition to achieve static balancing. However, some of these configurations cannot be reali
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7267c7167a20f7412045b12ec8a9c14d
https://doi.org/10.1109/tro.2020.2983318
https://doi.org/10.1109/tro.2020.2983318
Autor:
Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is crucial for
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::569c02ec65431ee0bef8fde897c9e4ed
https://hdl.handle.net/11562/1073306
https://hdl.handle.net/11562/1073306
Synthesizing kinematically feasible trajectories for legged robots becomes more and more challenging with the increase in the complexity of the obstacles to be traversed. In this abstract we propose an algorithm for the efficient assessment of the ki
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2cb4e5a4c8979ae8db7ffd5fd3d7a5de
Autor:
Giovanni Gerardo Muscolo, Claudio Semini, Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol
Publikováno v:
ICRA
Politecnico di Torino-IRIS
Politecnico di Torino-IRIS
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajector
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8664cc27068d9f5b1ea64de38d91d368
https://hdl.handle.net/11567/1106159
https://hdl.handle.net/11567/1106159