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Found 9 papers, 3 papers with code
Morphological Symmetries in Robotics
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems.
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces.
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
We demonstrate the performance and robustness of the proposed approach with various experiments on our 140 kg HyQReal quadruped robot equipped with a 7-DoF manipulator arm.
Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation
Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly.
Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation
In this paper, we explore a whole-body motion controller of a robot which is composed of a 2-DoFs non-holonomic wheeled mobile base with a 7-DoFs manipulator (non-holonomic wheeled mobile manipulator, NWMM) This robotic platform is designed to efficiently undertake complex grapevine pruning tasks.
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
In this work we propose a general formulation of the improved feasible region that guarantees dynamic balance alongside the satisfaction of both joint-torque and kinematic limits in an efficient manner.
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
In this paper, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions and motion, in a computationally efficient fashion.
On-line and on-board planning and perception for quadrupedal locomotion
We use a lattice representation together with a set of defined body movement primitives for computing a body action plan.
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model.
Robotics
