3 papers
cs.RO2023
Borinot: an agile torque-controlled robot for hybrid flying and contact loco-manipulation (workshop version)
Josep Marti-Saumell, Joan Sola, Angel Santamaria-Navarro +1
This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful he…
cs.RO2020
A Feasibility-Driven Approach to Control-Limited DDP
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell +4
Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization. Its efficiency derives from the exploitation of temporal structure (inherent…
cs.RO2020
Multi-task closed-loop inverse kinematics stability through semidefinite programming
Josep Marti-Saumell, Angel Santamaria-Navarro, Carlos Ocampo-Martinez +1
Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulat…