Zobrazeno 1 - 10
of 17
pro vyhledávání: '"Teguh Santoso Lembono"'
Publikováno v:
IEEE Robotics and Automation Letters
Trajectory optimization for motion planning requires good initial guesses to obtain good performance. In our proposed approach, we build a memory of motion based on a database of robot paths to provide good initial guesses. The memory of motion relie
Autor:
Nicolas Mansard, Guilhem Saurel, Steve Tonneau, Sylvain Calinon, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Olivier Stasse, Ewen Dantec, Pierre Fernbach, Michel Taix, Sethu Vijayakumar
Publikováno v:
International Conference on Robotics and Automation (ICRA 2021)
International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩
ICRA
Dantec, E, Budhiraja, R, Roig, A, Lembono, T, Saurel, G, Stasse, O, Fernbach, P, Tonneau, S, Vijayakumar, S, Calinon, S, Taïx, M & Mansard, N 2021, Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos . in 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers (IEEE), pp. 8202-8208, 2021 IEEE International Conference on Robotics and Automation, Xi'an, China, 30/05/21 . https://doi.org/10.1109/ICRA48506.2021.9560742
HAL
International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩
ICRA
Dantec, E, Budhiraja, R, Roig, A, Lembono, T, Saurel, G, Stasse, O, Fernbach, P, Tonneau, S, Vijayakumar, S, Calinon, S, Taïx, M & Mansard, N 2021, Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos . in 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers (IEEE), pp. 8202-8208, 2021 IEEE International Conference on Robotics and Automation, Xi'an, China, 30/05/21 . https://doi.org/10.1109/ICRA48506.2021.9560742
HAL
This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::36970b38c30e7a1036e6b88cace1edfc
https://hal.archives-ouvertes.fr/hal-02995796v2/document
https://hal.archives-ouvertes.fr/hal-02995796v2/document
Publikováno v:
IEEE Robotics and Automation Letters (RA-L)
In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network approach to le
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::90a424b8b76808499652ab68db79b702
http://arxiv.org/abs/2011.05717
http://arxiv.org/abs/2011.05717
Publikováno v:
IEEE International Conference on Robotics and Automation (ICRA 2020)
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (virtual), France. ⟨10.1109/ICRA40945.2020.9196727⟩
2020 IEEE International Conference on Robotics and Automation (ICRA)
ICRA
Lembono, T S, Mastalli, C, Fernbach, P, Mansard, N & Calinon, S 2020, Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion . in 2020 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers (IEEE), pp. 1357-1363, 2020 International Conference on Robotics and Automation, Virtual conference, France, 31/05/20 . https://doi.org/10.1109/ICRA40945.2020.9196727
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (virtual), France. ⟨10.1109/ICRA40945.2020.9196727⟩
2020 IEEE International Conference on Robotics and Automation (ICRA)
ICRA
Lembono, T S, Mastalli, C, Fernbach, P, Mansard, N & Calinon, S 2020, Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion . in 2020 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers (IEEE), pp. 1357-1363, 2020 International Conference on Robotics and Automation, Virtual conference, France, 31/05/20 . https://doi.org/10.1109/ICRA40945.2020.9196727
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically con
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::895dc3f81f4d9cb7c13d9b1a635ae795
https://hal.laas.fr/hal-02973174
https://hal.laas.fr/hal-02973174
Publikováno v:
ICRA
2020 IEEE International Conference on Robotics and Automation (ICRA)
2020 IEEE International Conference on Robotics and Automation (ICRA)
This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used for leveraging precomputation and dealing with difficult visual tasks
Publikováno v:
2020 IEEE International Conference on Robotics and Automation (ICRA)
ICRA
ICRA
We propose to formulate the problem of representing a distribution of robot configurations (e.g. joint angles) as that of approximating a product of experts. Our approach uses variational inference, a popular method in Bayesian computation, which has
Publikováno v:
The International Journal of Advanced Manufacturing Technology. 94:4105-4113
In surface treatment processes like plasma spraying and spray painting of workpieces, protecting the uninvolved surface by applying masking tape is a common process. Due to the operation complexity for different geometries, such taping tasks depend o
Publikováno v:
IEEE Transactions on Automation Science and Engineering
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2-D laser range finder (LRF) attached to the robot’s flange. The calibration setup requir
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::937140269d2e42c09ea7eb8cf48f930b
Publikováno v:
Industrial Robot: An International Journal. 43:503-512
Purpose Taping, covering objects with masking tapes, is a common process before conducting surface treatments such as plasma spraying and painting. Manual taping is tedious and takes a lot of effort of the workers. This paper aims to introduce an aut
Publikováno v:
Frontiers of Mechanical Engineering. 11:195-203
Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special pr