Zobrazeno 1 - 9
of 9
pro vyhledávání: '"Shamel Fahmi"'
Publikováno v:
Sensors, Vol 22, Iss 8, p 2967 (2022)
Legged robots are meant to autonomously navigate unstructured environments for applications like search and rescue, inspection, or maintenance. In autonomous navigation, a close relationship between locomotion and perception is crucial; the robot has
Externí odkaz:
https://doaj.org/article/08c1cfe830a24922b6d4e9c18760de85
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
Publikováno v:
Sensors; Volume 22; Issue 8; Pages: 2967
Legged robots are meant to autonomously navigate unstructured environments for applications like search and rescue, inspection, or maintenance. In autonomous navigation, a close relationship between locomotion and perception is crucial; the robot has
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3920cc6620a31e3b9d13a643e4f09a5e
https://pubmed.ncbi.nlm.nih.gov/35458952
https://pubmed.ncbi.nlm.nih.gov/35458952
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation for legged robots is designed for rigid contacts, and does not take into account the physical parameters of the terrain. That said
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::43eb5d3887d5872ef2657769431ba545
Autor:
Semini, Claudio, Barasuol, Victor, Focchi, Michele, Chundri Boelens, Emara, Mohamed, Casella, Salvatore, Villarreal, Octavio, Orsolino, Romeo, Fink, Geoff, Shamel Fahmi, Medrano-Cerda, Gustavo A., Caldwell, Darwin, Dhinesh Sangiah, Lesniewski, Jack, Fulton, Kyle, Donadon, Michel, Baker, Mike
This extended abstract provides a short introduction to the latest hydraulic quadruped robot (HyQReal) that has been developed at IIT. Compared to its predecessors HyQ and HyQ2Max, this third generation machine is completely power autonomous and feat
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1245663867d657236df00d13a4a1b809
Whole-body Control (WBC) has emerged as an important framework in locomotion control for legged robots. However, most of WBC frameworks fail to generalize beyond rigid terrains. Legged locomotion over soft terrain is difficult due to the presence of
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d9a61c3dc800c5820cd9e4db5c247f1d
Publikováno v:
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2553-2560. ⟨10.1109/LRA.2019.2908502⟩
IEEE Robotics and Automation Letters, IEEE 2019, 4 (3), pp.2553-2560. ⟨10.1109/LRA.2019.2908502⟩
IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2553-2560. ⟨10.1109/LRA.2019.2908502⟩
IEEE Robotics and Automation Letters, IEEE 2019, 4 (3), pp.2553-2560. ⟨10.1109/LRA.2019.2908502⟩
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP) that takes i
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::da4c017a26ec0782c72e2384a1c10a36
http://arxiv.org/abs/1811.00884
http://arxiv.org/abs/1811.00884
Autor:
Thomas Hulin, Shamel Fahmi
Publikováno v:
SyRoCo
The inertia of haptic devices limits the user’s manipulation and dynamically couples the Cartesian motion, which influences the transparency and fidelity in haptic feedback. By employing force-torque sensing, we investigate two approaches to reduce
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a7671b35102b28b398230cf94b141c8b
https://elib.dlr.de/123988/
https://elib.dlr.de/123988/