54 citations · 55 across the 2 of their papers we have counts for
3 papers
cs.RO2017★ 1 cited
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot's actuation capabilities. This means, when possible, to…
cs.RO2017★ 54 cited
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…
cs.RO2016
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.