NUK - logo

Search results

Basic search    Advanced search   
Search
request
Library

Currently you are NOT authorised to access e-resources NUK. For full access, REGISTER.

1 2 3 4 5
hits: 192
1.
  • Robust design and task‐prio... Robust design and task‐priority control for rescue robot HURCULES
    Hong, Seongil; Park, Gyuhyun; Lee, Youngwoo Journal of field robotics, August 2023, 2023-08-00, 20230801, Volume: 40, Issue: 5
    Journal Article
    Peer reviewed

    This paper proposes a novel design strategy and task‐priority‐based control methodology for a robot to successfully complete a rescue operation in an extremely unstructured environment. The ...
Full text
2.
  • Motion Planning for Quadrup... Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control
    Mastalli, Carlos; Havoutis, Ioannis; Focchi, Michele ... IEEE transactions on robotics, 2020-Dec., 2020-12-00, Volume: 36, Issue: 6
    Journal Article
    Peer reviewed
    Open access

    Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning ...
Full text

PDF
3.
  • Whole‐body motion planning ... Whole‐body motion planning and control of a quadruped robot for challenging terrain
    Lu, Guanglin; Chen, Teng; Rong, Xuewen ... Journal of field robotics, September 2023, 2023-09-00, 20230901, Volume: 40, Issue: 6
    Journal Article
    Peer reviewed

    Quadruped robots working in jungles, mountains or factories should be able to move through challenging scenarios. In this paper, we present a control framework for quadruped robots walking over rough ...
Full text
4.
  • Whole-body control with dis... Whole-body control with disturbance rejection through a momentum-based observer for quadruped robots
    Morlando, Viviana; Teimoorzadeh, Ainoor; Ruggiero, Fabio Mechanism and machine theory, October 2021, 2021-10-00, Volume: 164
    Journal Article
    Peer reviewed

    •A momentum-based observer for quadruped robots is proposed.•The observer estimates forces acting on both stance and swing legs.•Whole-body controller with a quadratic problem is used.•Disturbances ...
Full text
5.
  • Passivity-based whole-body ... Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios
    Henze, Bernd; Roa, Máximo A.; Ott, Christian The International journal of robotics research, 10/2016, Volume: 35, Issue: 12
    Journal Article
    Peer reviewed

    This work presents a new control approach to multi-contact balancing for torque-controlled humanoid robots. The controller includes a non-strict task hierarchy, which allows the robot to use a subset ...
Full text
6.
  • On Second-Order Derivatives... On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation
    Singh, Shubham; Russell, Ryan P.; Wensing, Patrick M. IEEE transactions on robotics, 2024, Volume: 40
    Journal Article
    Peer reviewed

    Model-based control for robots has increasingly depended on optimization-based methods, such as differential dynamic programming (DDP) and iterative LQR (iLQR). These methods can form the basis of ...
Full text
7.
  • High-slope terrain locomoti... High-slope terrain locomotion for torque-controlled quadruped robots
    Focchi, Michele; del Prete, Andrea; Havoutis, Ioannis ... Autonomous robots, 01/2017, Volume: 41, Issue: 1
    Journal Article
    Peer reviewed
    Open access

    Research into legged robotics is primarily motivated by the prospects of building machines that are able to navigate in challenging and complex environments that are predominantly non-flat. In this ...
Full text

PDF
8.
  • Whole Body Control of an Au... Whole Body Control of an Autonomous Mobile Manipulator Using Series Elastic Actuators
    Liu, Yueyue; Li, Zhijun; Su, Hang ... IEEE/ASME transactions on mechatronics, 2024
    Journal Article
    Peer reviewed

    The flexible joint robot has superior attractive features because of its high mobility, high load ratiohigh torque fidelity, robustness for external disturbance, task adaptability, and safety. In ...
Full text
9.
  • Momentum control with hiera... Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid
    Herzog, Alexander; Rotella, Nicholas; Mason, Sean ... Autonomous robots, 03/2016, Volume: 40, Issue: 3
    Journal Article
    Peer reviewed
    Open access

    Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never ...
Full text

PDF
10.
  • Hierarchical Impedance-Base... Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots
    Dietrich, Alexander; Ott, Christian IEEE transactions on robotics, 2020-Feb., 2020-2-00, Volume: 36, Issue: 1
    Journal Article
    Peer reviewed
    Open access

    The control of a robot in its task space is a standard approach nowadays. If the system is kinematically redundant with respect to this goal, one can even execute additional subtasks simultaneously. ...
Full text

PDF
1 2 3 4 5
hits: 192

Load filters