Zobrazeno 1 - 10
of 3 235
pro vyhledávání: '"Rémy, C."'
Trajectory optimization is an essential tool for generating efficient and dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory optimization, emphasizing its application in creating optimal periodic
Externí odkaz:
http://arxiv.org/abs/2410.09512
Autor:
Ebel, Henrik, van Delden, Jan, Lüddecke, Timo, Borse, Aditya, Gulakala, Rutwik, Stoffel, Marcus, Yadav, Manish, Stender, Merten, Schindler, Leon, de Payrebrune, Kristin Miriam, Raff, Maximilian, Remy, C. David, Röder, Benedict, Eberhard, Peter
Data-based methods have gained increasing importance in engineering, especially but not only driven by successes with deep artificial neural networks. Success stories are prevalent, e.g., in areas such as data-driven modeling, control and automation,
Externí odkaz:
http://arxiv.org/abs/2410.18358
Autor:
Sachtler, Arne, Calzolari, Davide, Raff, Maximilian, Schmidt, Annika, Wotte, Yannik P., Della Santina, Cosimo, Remy, C. David, Albu-Schäffer, Alin
Publikováno v:
2024 European Control Conference (ECC), Stockholm, Sweden, 2024, pp. 2392-2398
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is exploited
Externí odkaz:
http://arxiv.org/abs/2404.08478
Autor:
Raff, Maximilian, Remy, C. David
In autonomous differential equations where a single first integral is present, periodic orbits are well-known to belong to one-parameter families, parameterized by the first integral's values. This paper shows that this characteristic extends to a br
Externí odkaz:
http://arxiv.org/abs/2402.06502
Publikováno v:
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 8551-8557
For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing continuous families of locally optimal gaits with respect to a class of comm
Externí odkaz:
http://arxiv.org/abs/2303.14750
Publikováno v:
IEEE Robotics and Automation Letters, vol. 7 no. 3, pp. 8407-8414, 2022
In this work, we present a nonlinear dynamics perspective on generating and connecting gaits for energetically conservative models of legged systems. In particular, we show that the set of conservative gaits constitutes a connected space of locally d
Externí odkaz:
http://arxiv.org/abs/2203.00782
This paper describes the design and control of a support and recovery system for use with planar legged robots. The system operates in three modes. First, it can be operated in a fully transparent mode where no forces are applied to the robot. In thi
Externí odkaz:
http://arxiv.org/abs/2111.14972
Autor:
Quainton, Malcolm
Publikováno v:
The New Oxford Companion to Literature in French, 1 ed., 2005.
Externí odkaz:
http://www.oxfordreference.com/view/10.1093/acref/9780198661252.001.0001/acref-9780198661252-e-417
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft manipulator models t
Externí odkaz:
http://arxiv.org/abs/2002.01407
Safety guarantees are valuable in the control of walking robots, as falling can be both dangerous and costly. Unfortunately, set-based tools for generating safety guarantees (such as sums-of-squares optimization) are typically restricted to simplifie
Externí odkaz:
http://arxiv.org/abs/1903.08327