123 citations · 130 across the 3 of their papers we have counts for
3 papers · 1 filter
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai +7
Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning abou…
A General Scheme Implicit Force Control for a Flexible-Link Manipulator
Cecilia Murrugarra, Osberth De Castro, Juan Carlos Grieco +1
In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematic…
A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain
Bernardo Aceituno-Cabezas, Jose Cappelletto, Juan C. Grieco +1
Robot footstep planning strategies can be divided in two main approaches: discrete searches and continuous optimizations. While discrete searches have been broadly applied, continu…