Zobrazeno 1 - 10
of 18
pro vyhledávání: '"Tedrake, Russell Louis"'
Autor:
Dai, Hongkai, Tedrake, Russell Louis
Publikováno v:
MIT web domain
In this paper we seek to quantify and explicitly optimize the robustness of a control system for a robot walking on terrain with uncertain geometry. Geometric perturbations to the terrain enter the equations of motion through a relocation of the hybr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=od________88::619ec8cec2c1136042f68875352fc5e6
https://orcid.org/0000-0001-9363-3701
https://orcid.org/0000-0001-9363-3701
Autor:
Tedrake, Russell Louis
Publikováno v:
MIT web domain
Recent advances in the direct computation of Lyapunov functions using convex optimization make it possible to efficiently evaluate regions of stability for smooth nonlinear systems. Here we present a feedback motion planning algorithm which uses thes
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=od________88::22c1b77856a5aafcc491bb8895b82a79
http://hdl.handle.net/1721.1/64643
http://hdl.handle.net/1721.1/64643
Publikováno v:
MIT web domain
URL to paper listed on conference page
Choosing features for the critic in actor-critic algorithms with function approximation is known to be a challenge. Too few critic features can lead to degeneracy of the actor gradient, and too many feature
Choosing features for the critic in actor-critic algorithms with function approximation is known to be a challenge. Too few critic features can lead to degeneracy of the actor gradient, and too many feature
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=od________88::b5234ba1e93c5248271f9bebf1f6aadc
http://hdl.handle.net/1721.1/64445
http://hdl.handle.net/1721.1/64445
Autor:
Russ Tedrake, Fumiya Iida
Publikováno v:
Tedrake via Amy Stout
Autonomous Robots, 28 (3)
Autonomous Robots, 28 (3)
Toward our comprehensive understanding of legged locomotion in animals and machines, the compass gait model has been intensively studied for a systematic investigation of complex biped locomotion dynamics. While most of the previous studies focused o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e871165699a3999f20d1ad5f8324e699
https://doi.org/10.1007/s10514-009-9174-3
https://doi.org/10.1007/s10514-009-9174-3
Publikováno v:
MIT web domain
ICRA
ICRA
The goal of this work is to develop a soft robotic manipulation system that is capable of autonomous, dynamic, and safe interactions with humans and its environment. First, we develop a dynamic model for a multi-body fluidic elastomer manipulator tha
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ec3d4870f1d99d6f1da4e7077ad0729e
https://orcid.org/0000-0001-5473-3566
https://orcid.org/0000-0001-5473-3566
Autor:
Robin Deits, Russ Tedrake
Publikováno v:
ICRA
MIT web domain
MIT web domain
We present a new approach to the design of smooth trajectories for quadrotor unmanned aerial vehicles (UAVs), which are free of collisions with obstacles along their entire length. To avoid the non-convex constraints normally required for obstacle-av
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c7191a3393c91d8bd3b662caaa77feca
https://doi.org/10.1109/icra.2015.7138978
https://doi.org/10.1109/icra.2015.7138978
Autor:
Russ Tedrake, Robin Deits
Publikováno v:
MIT web domain
Humanoids
Humanoids
We present a new method for planning footstep placements for a robot walking on uneven terrain with obstacles, using a mixed-integer quadratically-constrained quadratic program (MIQCQP). Our approach is unique in that it handles obstacle avoidance, k
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::19dc710087c73d54aec9a6be9b77e6a6
https://orcid.org/0000-0002-8712-7092
https://orcid.org/0000-0002-8712-7092
Publikováno v:
MIT web domain
Humanoids
Humanoids
To plan dynamic, whole-body motions for robots, one conventionally faces the choice between a complex, full-body dynamic model containing every link and actuator of the robot, or a highly simplified model of the robot as a point mass. In this paper w
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5ab216aad24bd7475c04160ea4619fac
https://orcid.org/0000-0001-9363-3701
https://orcid.org/0000-0001-9363-3701
Autor:
Kuindersma, Scott, Karumanchi, Sisir B., Antone, Matthew, Dai, Hongkai, DiCicco, Matt, Fourie, Dehann, Yu, Kuan-Ting, Iagnemma, Karl, Teller, Seth, Perez D'Arpino, Claudia, Deits, Robin Lloyd Henderson, Koolen, Frans Anton, Marion, James Patrick, Posa, Michael Antonio, Valenzuela, Andres Klee, Shah, Julie A, Tedrake, Russell L, Fallon, Maurice, Schneider, Toby Edwin
Publikováno v:
MIT web domain
The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a cons
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=od________88::83c7041250260a9c7211127e9af639e2
https://orcid.org/0000-0002-8954-2310
https://orcid.org/0000-0002-8954-2310
Autor:
Andrew J. Barry, Russ Tedrake
Publikováno v:
ICRA
MIT web domain
MIT web domain
We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile ARM processor at 120 frames per second. Our system performs a subset of standard block-matching stereo processing, searching only for obstacles at a single d
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5b71e883a248fa10d23ce492522eebef