36 citations · 271 across the 74 of their papers we have counts for
7 papers · 2 filters
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
Ke Wang, Guiyang Xin, Songyan Xin +3
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by propo…
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints
João Moura, Theodoros Stouraitis, Sethu Vijayakumar
Contact adaption is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajecto…
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments
Tianwei Zhang, Huayan Zhang, Xiaofei Li +3
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic e…
Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control
Keyhan Kouhkiloui Babarahmati, Mohammadreza Kasaei, Carlo Tiseo +2
In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasi…
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati +4
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their propr…
A Versatile Co-Design Approach For Dynamic Legged Robots
Traiko Dinev, Carlos Mastalli, Vladimir Ivan +2
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling…