Zobrazeno 1 - 5
of 5
pro vyhledávání: '"Octavio Villarreal"'
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
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds. If these
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bc889afcad321c59613c276b3fc5e5cc
http://arxiv.org/abs/2212.01246
http://arxiv.org/abs/2212.01246
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
Publikováno v:
ICRA
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is built on top
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::df2fac0adfb6a405b7fd137590f31a1c
Autor:
Massimiliano Pontil, Octavio Villarreal, Michele Focchi, Victor Barasuol, Darwin G. Caldwell, Luca Franceschi, Claudio Semini, Marco Camurri
Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion on difficul
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b3499fa4e3c62fa8bc863c93357517ca