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cs.RO2024★ 8 cited
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives
Ines Sorrentino, Giulio Romualdi, Fabio Bergonti +3
This paper presents a scalable method for friction identification in robots equipped with electric motors and high-ratio harmonic drives, utilizing Physics-Informed Neural Networks…
cs.RO2024
From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry
Punith Reddy Vanteddu, Gabriele Nava, Fabio Bergonti +3
Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for r…