93 citations · 134 across the 9 of their papers we have counts for
4 papers · 1 filter
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
Daniel Ordoñez-Apraez, Vladimir Kostic, Giulio Turrisi +4
We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces. These are lower-dimensional spaces that capt…
Optimal Control for Articulated Soft Robots
Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini +2
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic pr…
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt +6
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several…
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
Jaehyun Shim, Carlos Mastalli, Thomas Corbères +3
State-of-the-art approaches to footstep planning assume reduced-order dynamics when solving the combinatorial problem of selecting contact surfaces in real time. However, in exchan…