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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…
cs.RO2024★ 1 cited
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti +4
This paper presents a three-layered architecture that enables stylistic locomotion with online contact location adjustment. Our method combines an autoregressive Deep Neural Networ…