62 citations · 133 across the 3 of their papers we have counts for
5 papers
Line Walking and Balancing for Legged Robots with Point Feet
Carlos Gonzalez, Victor Barasuol, Marco Frigerio +3
The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a con…
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Markus Giftthaler, Michael Neunert, Markus Stäuble +3
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradi…
Validation of computer simulations of the HyQ robot
Marco Frigerio, Victor Barasuol, Michele Focchi +1
This short technical report illustrates the results of a test procedure we performed to validate the computer simulation of the HyQ robot.
Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops
Michele Focchi, Gustavo A. Medrano-Cerda, Thiago Boaventura +4
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from s…
A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms
Marco Frigerio, Jonas Buchli, Darwin G. Caldwell
Rigid body dynamics algorithms play a crucial role in several components of a robot controller and simulations. Real time constraints in high frequency control loops and time requi…