Zobrazeno 1 - 10
of 268
pro vyhledávání: '"Traversaro, A"'
Autor:
Sorrentino, Ines, Romualdi, Giulio, Bergonti, Fabio, ĽErario, Giuseppe, Traversaro, Silvio, Pucci, Daniele
This paper presents a scalable method for friction identification in robots equipped with electric motors and high-ratio harmonic drives, utilizing Physics-Informed Neural Networks (PINN). This approach eliminates the need for dedicated setups and jo
Externí odkaz:
http://arxiv.org/abs/2410.12685
Autor:
Romualdi, Giulio, Viceconte, Paolo Maria, Moretti, Lorenzo, Sorrentino, Ines, Dafarra, Stefano, Traversaro, Silvio, Pucci, Daniele
This paper presents a three-layered architecture that enables stylistic locomotion with online contact location adjustment. Our method combines an autoregressive Deep Neural Network (DNN) acting as a trajectory generation layer with a model-based tra
Externí odkaz:
http://arxiv.org/abs/2410.07849
Autor:
Fischer, Tobias, Paredes, Isabel, Batchelor, Michael, Beier, Thorsten, Haviland, Jesse, Traversaro, Silvio, Vollprecht, Wolf, Schmitz, Markus, Milford, Michael
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution has extended ROS's accessibility by facilitating ins
Externí odkaz:
http://arxiv.org/abs/2409.09941
Autor:
Cardenas-Perez, Carlos, Romualdi, Giulio, Elobaid, Mohamed, Dafarra, Stefano, L'Erario, Giuseppe, Traversaro, Silvio, Morerio, Pietro, Del Bue, Alessio, Pucci, Daniele
This paper presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for a whole-body autonomous humanoid robot used in real-world Human-Robot Interaction (HRI) scenarios. The main contribution of this
Externí odkaz:
http://arxiv.org/abs/2406.15833
Publikováno v:
International Journal of Semantic Computing 0 Ahead of Print (2024) 1-17
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function blocks, the
Externí odkaz:
http://arxiv.org/abs/2405.08092
Autor:
Sartore, Carlotta, Rapetti, Lorenzo, Bergonti, Fabio, Dafarra, Stefano, Traversaro, Silvio, Pucci, Daniele
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads to subopt
Externí odkaz:
http://arxiv.org/abs/2312.07459
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including manipulators and fl
Externí odkaz:
http://arxiv.org/abs/2211.09716
Publikováno v:
Informatics in Education, Vol 23, Iss 3, Pp 679-718 (2024)
Concurrency is a complex to learn topic that is becoming more and more relevant, such that many undergraduate Computer Science curricula are introducing it in introductory programming courses. This paper investigates the combined use of Sonic Pi and
Externí odkaz:
https://doaj.org/article/18a39bd717404c99ae7fdc1b92fdc8ba
Autor:
Ramadoss, Prashanth, Rapetti, Lorenzo, Tirupachuri, Yeshasvi, Grieco, Riccardo, Milani, Gianluca, Valli, Enrico, Dafarra, Stefano, Traversaro, Silvio, Pucci, Daniele
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using wearable distr
Externí odkaz:
http://arxiv.org/abs/2205.07835
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-or
Externí odkaz:
http://arxiv.org/abs/2205.07765