Reference-Free Model Predictive Control for Quadrupedal Locomotion

Autor: Gianni Lunardi, Thomas Corberes, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete

Publikováno v: IEEE Access, Vol 12, Pp 689-698 (2024)

Full-dynamics model predictive control (MPC) has recently been applied to quadrupedal locomotion in semi-unstructured environments. These advances have been fueled by the availability of efficient trajectory optimization (TO) algorithms and inexpensi

Externí odkaz: https://doaj.org/article/a385703929cc4aa9b0aa06c1a7113ca6

Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

Autor: Thomas Flayols, Andrea Del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti

Publikováno v: Applied Sciences, Vol 11, Iss 1, p 353 (2020)

Contacts between robots and environment are often assumed to be rigid for control purposes. This assumption can lead to poor performance when contacts are soft and/or underdamped. However, the problem of balancing on soft contacts has not received mu

Externí odkaz: https://doaj.org/article/8dc820107bfc453ea5fef9f22c10c7bf

Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization

Autor: Nicolas Mansard, Pierre Fernbach, Thomas Flayols, Daeun Song, Steve Tonneau, Andrea Del Prete, Young J. Kim

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, IEEE 2021, 6 (3), pp.5961-5968. ⟨10.1109/LRA.2021.3088797⟩
IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5961-5968. ⟨10.1109/LRA.2021.3088797⟩
Song, D, Fernbach, P, Flayols, T, Prete, A D, Mansard, N, Tonneau, S & Kim, Y J 2021, ' Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization ', IEEE Robotics and Automation Letters, vol. 6, no. 3, 9454381, pp. 5961-5968 . https://doi.org/10.1109/LRA.2021.3088797

Extended version of the paper to be published in IEEE Robotics and Automation Letters; International audience; One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each foo

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bcd2a9219edf7a491fceb6f505d317d4
https://doi.org/10.1109/lra.2021.3088797

Simulation Aided Co-Design for Robust Robot Optimization

Autor: Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Philippe Soueres

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, 2022, 7 (4), pp.11306-11313. ⟨10.1109/LRA.2022.3200142⟩

International audience; This paper outlines a bi-level optimization method to concurrently optimize robot hardware parameters and control trajectories that ensure robust performance. The outer loop consists in a genetic algorithm that optimizes the h

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9b4413f3e07288ae89903b01a2592170
https://hdl.handle.net/11572/376871

A Hybrid Collision Model for Safety Collision Control

Autor: Thomas Flayols, T. Noel, Justin Carpentier, Joseph Mirabel, Nicolas Mansard

Publikováno v: ICRA
IEEE International Conference on Robotics and Automation (ICRA 2021)
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561730⟩

International audience; Self-collision detection and avoidance are essential for reactive control, in particular for dynamics robots equipped with legs or arms. Yet, only few control methods are able to handle such constraints, and it is often necess

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2fff23610b86bddf9875286678390d60
https://doi.org/10.1109/icra48506.2021.9561730