output
20182021
most citedOn Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

25 citations

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Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.

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6 papers · 1 filter

cs.RO2021★ 25 cited

On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

Yuquan Wang, Niels Dehio, Abderrahmane Kheddar

State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailo…

cs.RO2020★ 12 cited

Lyapunov-Stable Orientation Estimator for Humanoid Robots

Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue +3

In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude e…

cs.RO2020★ 11 cited

Impact-Aware Task-Space Quadratic-Programming Control

Yuquan Wang, Niels Dehio, Arnaud Tanguy +1

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversibl…

cs.RO2018

Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer

Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour

The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There…

cs.RO2018

Motion Planning in Irreducible Path Spaces

Andreas Orthey, Olivier Roussel, Olivier Stasse +1

The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dime…

cs.RO2018★ 2 cited

Quotient-Space Motion Planning

Andreas Orthey, Adrien Escande, Eiichi Yoshida

A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to…