Zobrazeno 1 - 10
of 73
pro vyhledávání: '"Ramuzat, A."'
Publikováno v:
Frontiers in Robotics and AI, Vol 9 (2022)
This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-f
Externí odkaz:
https://doaj.org/article/346294d219da442da4e1bd2e3a10e4ac
Publikováno v:
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, IEEE 2022, 7 (2), pp.2787-2794. ⟨10.1109/LRA.2022.3144767⟩
IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2787-2794. ⟨10.1109/LRA.2022.3144767⟩
IEEE Robotics and Automation Letters, IEEE 2022, 7 (2), pp.2787-2794. ⟨10.1109/LRA.2022.3144767⟩
IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2787-2794. ⟨10.1109/LRA.2022.3144767⟩
International audience; This work presents a passivity-based inverse dynamics (ID) controller using a global energy tank. The proposed control approach allows us to achieve a safe multi-contact scenario on a torque controlled humanoid robot. The cont
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::cf48c08561905652117a47d8e9705216
https://hal.archives-ouvertes.fr/hal-03547136
https://hal.archives-ouvertes.fr/hal-03547136
Autor:
Ramuzat, Noelie
Publikováno v:
Robotics [cs.RO]. INSA de Toulouse, 2021. English
Automatic. INSA de Toulouse, 2022. English. ⟨NNT : 2022ISAT0004⟩
Automatic. INSA de Toulouse, 2022. English. ⟨NNT : 2022ISAT0004⟩
Humanoids robots are not yet able to safely work in similar environment than humans and to perform the same tasks. The objective of this thesis is to study whole-body control algorithms for humanoids robots in order to perform aircraft manufacturing
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::ad010726b38a252aa1ca0646ea0fe62f
https://theses.hal.science/tel-03675191v2
https://theses.hal.science/tel-03675191v2
Akademický článek
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Publikováno v:
20th International Conference on Advanced Robotics (ICAR)
20th International Conference on Advanced Robotics (ICAR), Dec 2021, Virtual event, Slovenia. ⟨10.1109/ICAR53236.2021.9659380⟩
20th International Conference on Advanced Robotics (ICAR), Dec 2021, Virtual event, Slovenia. ⟨10.1109/ICAR53236.2021.9659380⟩
International audience; Most control architectures for legged locomotion are either torque or position controlled. In this paper, we investigate their differences and performances. Aiming to choose the most appropriate scheme for the robot TALOS, we
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c8c83a278ccd6a94f24a672c302e810c
https://doi.org/10.1109/icar53236.2021.9659380
https://doi.org/10.1109/icar53236.2021.9659380
Publikováno v:
Frontiers in Robotics and AI
Frontiers in Robotics and AI, 2022, 9, pp.826491. ⟨10.3389/frobt.2022.826491⟩
Frontiers in Robotics and AI, 2022, 9, pp.826491. ⟨10.3389/frobt.2022.826491⟩
International audience; This paper presents a comparison of three control schemes applied on the commercially available TALOS Humanoid Robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: wal
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::80d7cfc5c5edb1eefbf302889fe66cae
https://pubmed.ncbi.nlm.nih.gov/35316986
https://pubmed.ncbi.nlm.nih.gov/35316986
Autor:
Florent Forget, Olivier Stasse, Noelie Ramuzat, Maxime Gautier, Vincent Bonnet, Sébastien Boria
Publikováno v:
European Control Conference (ECC20)
European Control Conference (ECC20), May 2020, Saint Petersburg, Russia
Scopus-Elsevier
HAL
ECC
European Control Conference (ECC20), May 2020, Saint Petersburg, Russia
Scopus-Elsevier
HAL
ECC
International audience; In this experimental paper, we would like to validate a non linear optimal control solver to realize torque control on actuators embedded in a TALOS humanoid robot. The targeted application involves high payload, thus, it is n
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0184806d15e039122aeab326c8e104a2
https://hal.archives-ouvertes.fr/hal-02889421/file/Actuator_Model_Identification_and_Differential_Dynamic_Programming_for_a_TALOS_Humanoid_Robot.pdf
https://hal.archives-ouvertes.fr/hal-02889421/file/Actuator_Model_Identification_and_Differential_Dynamic_Programming_for_a_TALOS_Humanoid_Robot.pdf
Publikováno v:
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, 2021, 6 (4), pp.6361-6369. ⟨10.1109/LRA.2021.3092750⟩
IEEE Robotics and Automation Letters, IEEE 2021, 6 (4), pp.6361-6369. ⟨10.1109/LRA.2021.3092750⟩
IEEE Robotics and Automation Letters, 2021, 6 (4), pp.6361-6369. ⟨10.1109/LRA.2021.3092750⟩
IEEE Robotics and Automation Letters, IEEE 2021, 6 (4), pp.6361-6369. ⟨10.1109/LRA.2021.3092750⟩
International audience; In order to smoothly perform interactions between a humanoid robot and a human, knowledge about the human locomotion can be efficiently used. Indeed, in a human-robot collaboration, a prediction model of the human behaviour al
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::907e1c65f78c80dd37704b20782e7ef4
https://hal.laas.fr/hal-03292150/file/Maroger_RAL_2021_Hal.pdf
https://hal.laas.fr/hal-03292150/file/Maroger_RAL_2021_Hal.pdf