Zobrazeno 1 - 10
of 127
pro vyhledávání: '"Paredes, Victor"'
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and respects the
Externí odkaz:
http://arxiv.org/abs/2411.03619
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as moving trains,
Externí odkaz:
http://arxiv.org/abs/2409.08371
Autor:
Paredes, Victor C., Hagen, Daniel A., Chesebrough, Samuel W., Swann, Riley, Garagic, Denis, Hereid, Ayonga
The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two assumptions: (1) the robot has point-contact feet or passive ankles, and (2) the angular momentum around the center
Externí odkaz:
http://arxiv.org/abs/2408.05308
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements due to ne
Externí odkaz:
http://arxiv.org/abs/2403.17347
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a novel mul
Externí odkaz:
http://arxiv.org/abs/2403.17136
Autor:
Paredes, Victor, Hereid, Ayonga
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to steer away
Externí odkaz:
http://arxiv.org/abs/2311.08409
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control approach that ach
Externí odkaz:
http://arxiv.org/abs/2210.13371
Movement-sound interactive systems are at the interface of different artistic and educational practices. Within this multiplicity of uses, we examine common denominators in terms of learning, appropriation and relationship to technological systems. W
Externí odkaz:
http://arxiv.org/abs/2209.13921
Autor:
Paredes, Victor, Hereid, Ayonga
We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural regulation. We use the LIP template model to estimate the robot's ce
Externí odkaz:
http://arxiv.org/abs/2208.01786
Publikováno v:
Nueva Revista de Filología Hispánica, 2023 Jul 01. 71(2), 531-555.
Externí odkaz:
https://www.jstor.org/stable/27231353
