22 citations · 143 across the 29 of their papers we have counts for
11 papers · 1 filter
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…
Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing
Ignat Georgiev, Christoforos Chatzikomis, Timo Völkl +2
Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural n…
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt +3
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and…
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion
Guiyang Xin, Songyan Xin, Oguzhan Cebe +5
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…
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
Oguzhan Cebe, Carlo Tiseo, Guiyang Xin +3
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capabl…
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
Guiyang Xin, Carlo Tiseo, Wouter Wolfslag +5
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…