15 citations · 46 across the 10 of their papers we have counts for
20 papers · 1 filter
Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion
D. Belter, J. Bednarek, H. -C. Lin +2
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local…
Efficient Learning of Inverse Dynamics Models for Adaptive Computed Torque Control
David Jorge, Gabriella Pizzuto, Michael Mistry
Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics model…
What Robot do I Need? Fast Co-Adaptation of Morphology and Control using Graph Neural Networks
Kevin Sebastian Luck, Roberto Calandra, Michael Mistry
The co-adaptation of robot morphology and behaviour becomes increasingly important with the advent of fast 3D-manufacturing methods and efficient deep reinforcement learning algori…
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
Ke Wang, Guiyang Xin, Songyan Xin +3
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 propo…
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati +4
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their propr…
Theoretical Evidence Supporting Harmonic Reaching Trajectories
Carlo Tiseo, Sydney Rebecca Charitos, Michael Mistry
Minimum Jerk trajectories have been long thought to be the reference trajectories for human movements due to their impressive similarity with human movements. Nevertheless, minimum…