4 papers
PlaCo: a QP-based robot planning and control framework
Marc Duclusaud, Grégoire Passault, Vincent Padois +1
This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic…
Extended Friction Models for the Physics Simulation of Servo Actuators
Marc Duclusaud, Grégoire Passault, Vincent Padois +1
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advant…
Re-expression of manual expertise through semi-automatic control of a teleoperated system
Erwann Landais, Nasser Rezzoug, Vincent Padois
While the search for new solvents in the chemical industry is of uttermost importance with respect to environmental considerations, this domain remains strongly tied to highly manu…
Simulation Study of the Upper-limb Wrench Feasible Set with Glenohumeral Joint Constraints
Nasser Rezzoug, Antun Skuric, Vincent Padois +1
The aim of this work is to improve musculoskeletal-based models of the upper-limb Wrench Feasible Set i.e. the set of achievable maximal wrenches at the hand for applications in co…