Zobrazeno 1 - 10
of 36
pro vyhledávání: '"Victor Barasuol"'
Autor:
Victor Barasuol, Octavio A. Villarreal-Magaña, Dhinesh Sangiah, Marco Frigerio, Mike Baker, Robert Morgan, Gustavo A. Medrano-Cerda, Darwin Gordon Caldwell, Claudio Semini
Publikováno v:
Frontiers in Robotics and AI, Vol 5 (2018)
Hydraulic actuation is the most widely used alternative to electric motors for legged robots and manipulators. It is often selected for its high power density, robustness and high-bandwidth control performance that allows the implementation of force/
Externí odkaz:
https://doaj.org/article/39ed578646d5474781eb8c9d11f09b58
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds. If these
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bc889afcad321c59613c276b3fc5e5cc
http://arxiv.org/abs/2212.01246
http://arxiv.org/abs/2212.01246
Publikováno v:
2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE).
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::94ffcb601b2d76ebb4b7ee369ca49fee
https://doi.org/10.1109/lars/sbr/wre56824.2022.9995759
https://doi.org/10.1109/lars/sbr/wre56824.2022.9995759
Autor:
Claudio Semini, Gennaro Raiola, Stéphane Caron, Romeo Orsolino, Darwin G. Caldwell, Michele Focchi, Victor Barasuol
Publikováno v:
IEEE Transactions on Robotics. 36:1239-1255
In legged locomotion, the projection of the robot's Center of Mass (CoM) being inside the convex hull of the contact points is a commonly accepted sufficient condition to achieve static balancing. However, some of these configurations cannot be reali
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7267c7167a20f7412045b12ec8a9c14d
https://doi.org/10.1109/tro.2020.2983318
https://doi.org/10.1109/tro.2020.2983318
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the implementation of a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fd8c00c4baae0bb33567d25d610a0f99
Autor:
Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is crucial for
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::569c02ec65431ee0bef8fde897c9e4ed
https://hdl.handle.net/11562/1073306
https://hdl.handle.net/11562/1073306
Publikováno v:
AUTONOMOUS ROBOTS
Classic control theory applied to compliant and soft robots generally involves an increment of computation that has no equivalent in biology. To tackle this, morphological computation describes a theoretical framework that takes advantage of the comp
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::022afd4823dc1b9cdbb9361553675e5a
https://biblio.ugent.be/publication/8698429
https://biblio.ugent.be/publication/8698429
Autor:
Marco Frigerio, Claudio Semini, Roy Featherstone, Darwin G. Caldwell, Victor Barasuol, Carlos Gonzalez
Publikováno v:
IROS
The ability of legged systems to traverse highly- constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state- of-the-art balance
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::597a3bcf10c28169dfb065d5d859025c
http://arxiv.org/abs/2007.01087
http://arxiv.org/abs/2007.01087
Autor:
Giovanni Gerardo Muscolo, Claudio Semini, Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol
Publikováno v:
ICRA
Politecnico di Torino-IRIS
Politecnico di Torino-IRIS
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajector
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8664cc27068d9f5b1ea64de38d91d368
https://hdl.handle.net/11567/1106159
https://hdl.handle.net/11567/1106159
Publikováno v:
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
ICRA
ICRA
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in robotic locomo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::199d5cae2f176bfc098fb261e06aeabd
https://biblio.ugent.be/publication/8698103
https://biblio.ugent.be/publication/8698103