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pro vyhledávání: '"Xin, Guiyang"'
In this work, we present the design, development, and experimental validation of a custom-built quadruped robot, Ask1. The Ask1 robot shares similar morphology with the Unitree Go1, but features custom hardware components and a different control arch
Externí odkaz:
http://arxiv.org/abs/2412.08019
Autor:
Mastalli, Carlos, Merkt, Wolfgang, Xin, Guiyang, Shim, Jaehyun, Mistry, Michael, Havoutis, Ioannis, Vijayakumar, Sethu
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To achieve so, w
Externí odkaz:
http://arxiv.org/abs/2203.07554
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that can approx
Externí odkaz:
http://arxiv.org/abs/2109.04581
Autor:
Xin, Guiyang, Xin, Songyan, Cebe, Oguzhan, Pollayil, Mathew Jose, Angelini, Franco, Garabini, Manolo, Vijayakumar, Sethu, Mistry, Michael
In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected inverse dynamic control for robust motion tracking. In our proposed pl
Externí odkaz:
http://arxiv.org/abs/2010.12326
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep trajectories for
Externí odkaz:
http://arxiv.org/abs/2008.12687
Autor:
Xin, Guiyang, Tiseo, Carlo, Wolfslag, Wouter, Smith, Joshua, Cebe, Oguzhan, Li, Zhibin, Vijayakumar, Sethu, Mistry, Michael
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to foc
Externí odkaz:
http://arxiv.org/abs/2004.02996
Autor:
Wolfslag, Wouter, McGreavy, Christopher, Xin, Guiyang, Tiseo, Carlo, Vijayakumar, Sethu, Li, Zhibin
Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we study the use of additional contact points for maximising the robustness
Externí odkaz:
http://arxiv.org/abs/2002.10552
Autor:
Wang, Ke a, Xin, Guiyang b, c, ⁎, Xin, Songyan d, Mistry, Michael d, Vijayakumar, Sethu d, Kormushev, Petar a
Publikováno v:
In Mechatronics November 2023 95
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso is employ
Externí odkaz:
http://arxiv.org/abs/1912.07315
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