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Walking on partial footholds including line contacts with the humanoid robot atlas

Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert Griffin, Francesco Nori, Jerry Pratt
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)</a> </i> &nbsp;
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces.  ...  We applied this method to the Atlas humanoid designed by Boston Dynamics to walk over small contact surfaces, such as line and point contacts.  ...  CONCLUSION Using the presented walking framework we were able to walk over partial footholds such as line contacts with the Atlas humanoid.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2016.7803439">doi:10.1109/humanoids.2016.7803439</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/WiedebachBWFMGN16.html">dblp:conf/humanoids/WiedebachBWFMGN16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/rmysf4735zbz3ar7pdfcusp3iy">fatcat:rmysf4735zbz3ar7pdfcusp3iy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200928130659/https://arxiv.org/pdf/1607.08089v1.pdf" title="fulltext PDF download [not primary version]" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <span style="color: #f43e3e;">&#10033;</span> <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ba/88/ba88012e40606897791b5700a7b57d8115c557bf.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2016.7803439"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing

Maurice F. Fallon, Matthew Antone, Nicholas Roy, Seth Teller
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2014 IEEE-RAS International Conference on Humanoid Robots</a> </i> &nbsp;
Atlas robot.  ...  Extensive experimental demonstrations illustrate how the approach can enable the humanoid to walk over uneven terrain without stopping (for tens of minutes), which would otherwise not be possible.  ...  We thank the MIT DRC Team for their work on the overall humanoid system and Adam Bry, Abe Bachrach and Dehann Fourie for development of the core estimation framework.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2014.7041346">doi:10.1109/humanoids.2014.7041346</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/FallonART14.html">dblp:conf/humanoids/FallonART14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/klyxiyaho5errlico5lx6swr6a">fatcat:klyxiyaho5errlico5lx6swr6a</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180720034034/https://www.research.ed.ac.uk/portal/files/18903340/14_fallon_humanoids.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ef/aa/efaa10a637103b7c5a5c8fa88dec47ffac69db8a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2014.7041346"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Vision-based foothold contact reasoning using curved surface patches

Dimitrios Kanoulas, Chengxu Zhou, Anh Nguyen, Georgios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis
<span title="">2017</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)</a> </i> &nbsp;
We experimentally validate the introduced visionbased framework, using range data for rough terrain stepping demonstrations on the COMAN and WALK-MAN humanoids.  ...  This interaction becomes even more critical when the robot must move on rough surfaces.  ...  The most recently developed humanoid robots use exteroceptive (e.g. stereo and lidar) perception to walk on flat surfaces with their soles in full contact with the environment [2] , while rough terrain  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2017.8239546">doi:10.1109/humanoids.2017.8239546</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/KanoulasZNKCT17.html">dblp:conf/humanoids/KanoulasZNKCT17</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qpnb36sn2naehkztzyhp5dkkpe">fatcat:qpnb36sn2naehkztzyhp5dkkpe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190428001019/http://eprints.whiterose.ac.uk/144460/1/P16__Kanoulas_Zhou_Nguyen_Kanoulas_Caldwell_Tsagarakis__2017__Vision-Based_Foothold_Contact_Reasoning_using_Curved_Surface_Patches%20%281%29.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/4c/17/4c17120c6c1a2509911f9496ab173a6c6d69accb.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2017.8239546"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Real-time predictive kinematic evaluation and optimization for biped robots

Arne-Christoph Hildebrandt, Manuel Demmeler, Robert Wittmann, Daniel Wahrmann, Felix Sygulla, Daniel Rixen, Thomas Buschmann
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</a> </i> &nbsp;
parameter set describing the walking pattern by integrating the full kinematic model of the robot.  ...  Collision-free walking in cluttered environments is still an open issue for humanoids. Most current approaches use heuristics with large safety margins to plan the robot's motion.  ...  Yousefpour, who helped conducting the experiments.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2016.7759852">doi:10.1109/iros.2016.7759852</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/HildebrandtDWWS16.html">dblp:conf/iros/HildebrandtDWWS16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/rmmzjx3rcja2vnmtchhiziw4qi">fatcat:rmmzjx3rcja2vnmtchhiziw4qi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180720192927/http://mediatum.ub.tum.de/doc/1335426/document.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e5/96/e5965918a0759a2b74ca2e05233391054a35cb40.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2016.7759852"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR

Maurice Fallon
<span title="2018-06-15">2018</span> <i title="The Royal Society"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/d7whzd2jibasbkf6j6dw5axlae" style="color: black;">Interface Focus</a> </i> &nbsp;
This means that one cannot assume that the entirety of the foot is rigidly in contact and thus only partial information about contact is available at any time.  ...  The estimator is demonstrated using the Boston Dynamics (BDI) Atlas humanoid (figure 1) provided to our research team for the ongoing DARPA Robotics Challenge (DRC).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1098/rsfs.2018.0015">doi:10.1098/rsfs.2018.0015</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/29951194">pmid:29951194</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/muqgls4t55cytb2zqbqqaymj4y">fatcat:muqgls4t55cytb2zqbqqaymj4y</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20191026221846/https://royalsocietypublishing.org/doi/pdf/10.1098/rsfs.2018.0015" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1098/rsfs.2018.0015"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

A force-control scheme for biped robots to walk over uneven terrain including partial footholds

Felix Sygulla, Daniel Rixen
<span title="2020-01-01">2020</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dlo33cxbtffljkmrdnlsbqmlcq" style="color: black;">International Journal of Advanced Robotic Systems</a> </i> &nbsp;
The proposed method enables the humanoid robot Lola to walk over a complex uneven terrain with 6 cm variation in ground height at a walking speed of 0.5 m/s.  ...  The approach is composed of an early-contact method, direct force control with an adaptive contact model, and a strategy to adapt the center of mass height based on contact force data.  ...  Acknowledgments The authors thank Georg König for building the uneven terrain testbed and Philipp Seiwald, Nora-Sophie Staufenberg, and Moritz Sattler for their help carrying out the experiments with LOLA  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/1729881419897472">doi:10.1177/1729881419897472</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/lpqw3itywrefna25ishhhukg5y">fatcat:lpqw3itywrefna25ishhhukg5y</a> </span>
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Humanoids [chapter]

Paul Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi, Eiichi Yoshida
<span title="">2016</span> <i title="Springer International Publishing"> Springer Handbook of Robotics </i> &nbsp;
Notably, while this chapter focuses on robots that have been explicitly designated as humanoid robots by their creators, the lines between these robots and others can be blurry.  ...  Humanoid robots have already gained a foothold in the marketplace as robots for entertainment and research (e.g., the Robo-One competition and the NAO from Aldebaran).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-32552-1_67">doi:10.1007/978-3-319-32552-1_67</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xgkavbgzmbae7mo4wjdrmivkdu">fatcat:xgkavbgzmbae7mo4wjdrmivkdu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180626154543/http://www1.cs.columbia.edu/~allen/S18/humanoids-chapter.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/2e/6f/2e6f47e87b5b1b952a3b0ea9466d014013365fb5.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-32552-1_67"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake
<span title="2015-07-31">2015</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/jmjdfeig5rayzgfuauvumileza" style="color: black;">Autonomous Robots</a> </i> &nbsp;
We describe our complete system integration and experiments carried out on Atlas, a full-size hydraulic humanoid robot built by Boston Dynamics, Inc.  ...  We also present a state estimator formulation that, when combined with our walking controller, permits highly precise execution of extended walking plans over non-flat terrain.  ...  We would like to thank the members of the Robot Locomotion Group and the MIT DRC Team for their insights and supporting contributions to this work.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10514-015-9479-3">doi:10.1007/s10514-015-9479-3</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qakwplqehfgvnkzgcyrjfygomi">fatcat:qakwplqehfgvnkzgcyrjfygomi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180725093617/http://dspace.mit.edu/bitstream/handle/1721.1/110533/Tedrake_EMB%20until%20May%201%202016%20Optimization-Based%20Locomotion.pdf;jsessionid=4FA9A23B8B5BA17B9EB832A33F71B999?sequence=1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e7/cd/e7cd65a36d4ffdd53bc7d80ef9e65764560dcc54.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10514-015-9479-3"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Curved patch mapping and trackingfor irregular terrain modeling: Application to bipedal robot foot placement

Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona
<span title="">2019</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ncwahgzkgbfljbalytxadcov3u" style="color: black;">Robotics and Autonomous Systems</a> </i> &nbsp;
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains.  ...  We present experimental results on a mini-biped robot that performs foot placements on rocks, implementing a 3D foothold perception system, that uses the developed patch mapping and tracking framework.  ...  This is not true when more noisy sensors on bigger humanoid robots are used, such as the Multisense-SL sensor that is installed on our WALK-MAN humanoid.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.robot.2019.05.012">doi:10.1016/j.robot.2019.05.012</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/73gwd3mpfrcfndqgrh6kjwedlm">fatcat:73gwd3mpfrcfndqgrh6kjwedlm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200415195441/https://arxiv.org/pdf/2004.03405v1.pdf" title="fulltext PDF download [not primary version]" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <span style="color: #f43e3e;">&#10033;</span> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.robot.2019.05.012"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

Footstep planning on uneven terrain with mixed-integer convex optimization

Robin Deits, Russ Tedrake
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2014 IEEE-RAS International Conference on Humanoid Robots</a> </i> &nbsp;
We present a new method for planning footstep placements for a robot walking on uneven terrain with obstacles, using a mixed-integer quadratically-constrained quadratic program (MIQCQP).  ...  We demonstrate this technique in simple 2D and 3D environments and with real environments sensed by a humanoid robot.  ...  ACKNOWLEDGMENTS The authors are grateful for the support and advice of the members of the Robot Locomotion Group at MIT and Team MIT of the DARPA Robotics Challenge. particularly Pat Marion, Andres Valenzuela  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2014.7041373">doi:10.1109/humanoids.2014.7041373</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/DeitsT14.html">dblp:conf/humanoids/DeitsT14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/sa3ud6vsdbaxzj3lymiojd5wle">fatcat:sa3ud6vsdbaxzj3lymiojd5wle</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170706065041/http://groups.csail.mit.edu/robotics-center/public_papers/Deits14a.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e9/c3/e9c31057db1653e112d82dfe103f43d3f5bd5cf1.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2014.7041373"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Imprecise dynamic walking with time-projection control [article]

Salman Faraji and Philippe Muellhaupt and Auke J. Ijspeert
<span title="2018-11-09">2018</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We apply it to a simulated Atlas robot in position-control, always commanded to perform in-place walking.  ...  Combined with simple Center of Pressure (CoP) damping rules in the low-level controller, our foot-placement enables the robot to recover from strong pushes and produce periodic walking gaits when subject  ...  ACKNOWLEDGMENT This work was funded by the WALK-MAN project (European Community's 7th Framework Programme: FP7-ICT 611832).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1811.03984v1">arXiv:1811.03984v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/o3mc5alpjzgsbkozk4wmrwqfmi">fatcat:o3mc5alpjzgsbkozk4wmrwqfmi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200826070139/https://arxiv.org/pdf/1811.03984v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/32/1d/321dfdd724370e211b653f350f0937a9e1215f67.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1811.03984v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Agile Maneuvers in Legged Robots: a Predictive Control Approach [article]

Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael Mistry, Ioannis Havoutis, Sethu Vijayakumar
<span title="2022-03-14">2022</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We demonstrate the benefits of our approach on agile maneuvers on ANYmal robots in realistic scenarios.  ...  Achieving agile maneuvers through multiple contact phases has been a longstanding challenge in legged robotics.  ...  This assumption is very restrictive as it requires actuators with high bandwidth and torque limits such as the ones developed for the Atlas robot.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2203.07554v1">arXiv:2203.07554v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/lc4a2ovvebg6pfc7kacgubbopu">fatcat:lc4a2ovvebg6pfc7kacgubbopu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220322134725/https://arxiv.org/pdf/2203.07554v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/74/25/7425d3ada1636ee79bb43cfe3fa2257a0a2774d6.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2203.07554v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Virtual Point Control for Step-Down Perturbations and Downhill Slopes in Bipedal Running

Özge Drama, Alexander Badri-Spröwitz
<span title="2020-12-18">2020</span> <i title="Frontiers Media SA"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/tkuhrcyiufdxtkdmjqvay6f2ua" style="color: black;">Frontiers in Bioengineering and Biotechnology</a> </i> &nbsp;
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts.  ...  We provide guidelines on the model and controller parameterizations for handling varying terrain conditions.  ...  ACKNOWLEDGMENTS The authors thank the International Max Planck Research School for Intelligent Systems (IMPRS-IS) for supporting ÖD.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3389/fbioe.2020.586534">doi:10.3389/fbioe.2020.586534</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/33392164">pmid:33392164</a> <a target="_blank" rel="external noopener" href="https://pubmed.ncbi.nlm.nih.gov/PMC7775500/">pmcid:PMC7775500</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/emtvkogskzaljlylb7q4jkq4cu">fatcat:emtvkogskzaljlylb7q4jkq4cu</a> </span>
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Adaptive PID Control and Its Application Based on a Double-Layer BP Neural Network

Ming-Li Zhang, Yi-Jie Zhang, Xiao-Long He, Zheng-Jie Gao
<span title="2021-08-23">2021</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/vt2hc3xcijfofb7cwnxv4hhszi" style="color: black;">Processes</a> </i> &nbsp;
In this paper, focusing on the inconvenience of variable value PID based on manual parameter adjustment for the hydraulic drive unit (HDU) of a legged robot, a method employing double-layer back propagation  ...  The second layer is used to study the relationship between the parameters of the working conditions and the optimizing control parameters under various working conditions.  ...  Walking on partial footholds including line contacts with the humanoid robot atlas.  ... 
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Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Jun He, Feng Gao
<span title="2020-11-09">2020</span> <i title="Springer Science and Business Media LLC"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ikhxwlk7afaxvdsiln4bjbq2qm" style="color: black;">Chinese Journal of Mechanical Engineering</a> </i> &nbsp;
This paper addresses key points that might yield breakthroughs for highly dynamic multilegged robots with the abilities of running (or jumping and hopping) and self-balancing.  ...  The latest leg mechanisms with serial-parallel hybrid topologies and rigid–flexible coupling configurations are analyzed.  ...  The arm can be used to open doors and manipulate objects. The SPOT CAM includes a color feed and one optional pan-tilt-zoom camera, providing the robot with better situational awareness.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1186/s10033-020-00485-9">doi:10.1186/s10033-020-00485-9</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/r4dv6nbymzgznbjd57de52wfga">fatcat:r4dv6nbymzgznbjd57de52wfga</a> </span>
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