Zobrazeno 1 - 10
of 185
pro vyhledávání: '"Semini Claudio"'
Autor:
Santana, Hilton Marques Souza, Soares, João Carlos Virgolino, Nisticò, Ylenia, Meggiolaro, Marco Antonio, Semini, Claudio
Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This paper presents
Externí odkaz:
http://arxiv.org/abs/2410.05256
Autor:
Elobaid, Mohamed, Turrisi, Giulio, Rapetti, Lorenzo, Romualdi, Giulio, Dafarra, Stefano, Kawakami, Tomohiro, Chaki, Tomohiro, Yoshiike, Takahide, Semini, Claudio, Pucci, Daniele
Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow robots wit
Externí odkaz:
http://arxiv.org/abs/2409.01144
Autor:
Adlerstein, Michael, Bratta, Angelo, Soares, João Carlos Virgolino, Dessy, Giovanni, Fernandes, Miguel, Gatti, Matteo, Semini, Claudio
Grapevine winter pruning is a labor-intensive and repetitive process that significantly influences the quality and quantity of the grape harvest and produced wine of the following season. It requires a careful and expert detection of the point to be
Externí odkaz:
http://arxiv.org/abs/2408.16472
Autor:
Taouil, Ilyass, Amatucci, Lorenzo, Khadiv, Majid, Dai, Angela, Barasuol, Victor, Turrisi, Giulio, Semini, Claudio
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the applicability of su
Externí odkaz:
http://arxiv.org/abs/2408.07508
Autor:
Abati, Gabriel Fischer, Soares, João Carlos Virgolino, Medeiros, Vivian Suzano, Meggiolaro, Marco Antonio, Semini, Claudio
The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot deal with unk
Externí odkaz:
http://arxiv.org/abs/2405.02177
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a minimalist appr
Externí odkaz:
http://arxiv.org/abs/2403.19862
Autor:
Su, Zhi, Huang, Xiaoyu, Ordoñez-Apraez, Daniel, Li, Yunfei, Li, Zhongyu, Liao, Qiayuan, Turrisi, Giulio, Pontil, Massimiliano, Semini, Claudio, Wu, Yi, Sreenath, Koushil
Model-free reinforcement learning is a promising approach for autonomously solving challenging robotics control problems, but faces exploration difficulty without information of the robot's kinematics and dynamics morphology. The under-exploration of
Externí odkaz:
http://arxiv.org/abs/2403.17320
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing the Alterna
Externí odkaz:
http://arxiv.org/abs/2403.11742
Publikováno v:
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Quadrupedal robots excel in mobility, navigating complex terrains with agility. However, their complex control systems present challenges that are still far from being fully addressed. In this paper, we introduce the use of Sample-Based Stochastic co
Externí odkaz:
http://arxiv.org/abs/2403.11383
Autor:
Ordoñez-Apraez, Daniel, Turrisi, Giulio, Kostic, Vladimir, Martin, Mario, Agudo, Antonio, Moreno-Noguer, Francesc, Pontil, Massimiliano, Semini, Claudio, Mastalli, Carlos
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the replicatio
Externí odkaz:
http://arxiv.org/abs/2402.15552