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pro vyhledávání: '"Zapolsky, Samuel"'
In this paper we demonstrate the limitations of common rigid-body contact models used in the robotics community by comparing them to a collection of data-driven and data-reinforced models that exploit underlying structure inspired by the rigid contac
Externí odkaz:
http://arxiv.org/abs/1710.05947
The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensively in planning and control due to their computational efficiency and
Externí odkaz:
http://arxiv.org/abs/1710.04979
Autor:
Zapolsky, Samuel, Drumwright, Evan
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This paper descri
Externí odkaz:
http://arxiv.org/abs/1608.01606
Autor:
Zapolsky, Samuel, Drumwright, Evan
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking and active
Externí odkaz:
http://arxiv.org/abs/1509.03355
Akademický článek
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Autor:
Zapolsky, Samuel, Drumwright, Evan M.
Publikováno v:
2015 IEEE/RSJ International Conference on Intelligent Robots & Systems (IROS); 2015, p5388-5394, 7p
Autor:
Zapolsky, Samuel, Drumwright, Evan
Publikováno v:
2014 IEEE/RSJ International Conference on Intelligent Robots & Systems; 2014, p3266-3271, 6p
Publikováno v:
Nature-Inspired Mobile Robotics - Proceedings of the 16th International Conference on Climbing & Walking Robots & the Support Technologies For Mobile Machines; 2013, p555-562, 8p