1 citations · 1 across the 3 of their papers we have counts for
Showing 2019Show all
2 papers · 1 filter
cs.RO2019
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
Angelo Bratta, Romeo Orsolino, Michele Focchi +3
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility cons…
cs.RO2019
Feasible Region: an Actuation-Aware Extension of the Support Region
Romeo Orsolino, Michele Focchi, Stéphane Caron +3
In legged locomotion the projection of the robot Center of Mass (CoM) being inside the convex hull of the contact points is a commonly accepted sufficient condition to achieve stat…