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pro vyhledávání: '"Norby, Joseph"'
Trajectory optimization problems for legged robots are commonly formulated with fixed contact schedules. These multi-phase Hybrid Trajectory Optimization (HTO) methods result in locally optimal trajectories, but the result depends heavily upon the pr
Externí odkaz:
http://arxiv.org/abs/2304.04923
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected height varia
Externí odkaz:
http://arxiv.org/abs/2303.04781
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often handle comput
Externí odkaz:
http://arxiv.org/abs/2209.02849
Publikováno v:
IEEE Transactions on Robotics; 2024, Vol. 40 Issue: 1 p4615-4634, 20p
Autor:
Norby, Joseph
Successful deployment of legged robots in industrial applications such as environmental monitoring, material handling, or inspection requires that platforms perform complicated tasks quickly in unstructured environments. Unlocking the capabilities of
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1ec79a6648fd1c40c1d1b0ff3da7bb3e
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