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of 226
pro vyhledávání: '"Tanguy Arnaud"'
Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intentionally hitting a wall with its right arm while standing on two feet.
Externí odkaz:
http://arxiv.org/abs/2308.06784
Autor:
Chen, Yang, Sun, Leyuan, Benallegue, Mehdi, Cisneros, Rafael, Singh, Rohan P., Kaneko, Kenji, Tanguy, Arnaud, Caron, Guillaume, Suzuki, Kenji, Kheddar, Abderrahmane, Kanehiro, Fumio
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's and robot's head due to network communication delays or slow robot joint
Externí odkaz:
http://arxiv.org/abs/2211.01749
Autor:
Sáez-Saavedra, Camila, Saucedo, Pedro E., Acosta-Salmon, Héctor, Tanguy, Arnaud, Araya, Rubén
Publikováno v:
In Aquaculture Reports February 2024 34
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position and wrench
Externí odkaz:
http://arxiv.org/abs/2103.02906
Autor:
Bolotnikova, Anastasia, Gergondet, Pierre, Tanguy, Arnaud, Courtois, Sébastien, Kheddar, Abderrahmane
We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control
Externí odkaz:
http://arxiv.org/abs/2010.04573
Publikováno v:
The International Journal of Robotics Research 2023
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in task-space conta
Externí odkaz:
http://arxiv.org/abs/2006.01987
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external environmen
Externí odkaz:
http://arxiv.org/abs/2001.08454
Publikováno v:
ICRA, May 2020, Paris, France
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an adm
Externí odkaz:
http://arxiv.org/abs/1909.13696
Akademický článek
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Autor:
Grouzdev, Denis, Farhat, Sarah, Guo, Ximing, Espinosa, Emmanuelle Pales, Reece, Kimberly, McDowell, Jan, Yang, Huiping, Rivara, Gregg, Reitsma, Joshua, Clemetson, Antoinette, Tanguy, Arnaud, Allam, Bassem
Publikováno v:
BMC Genomics; 9/9/2024, Vol. 25 Issue 1, p1-15, 15p