Publications related to TOPIO | EPFL Graph Search

Four-Arm Manipulation via Feet Interfaces

Aude Billard, Hannes Bleuler, Mohamed Bouri, Anaïs Betsabeh Haget, Walid Amanhoud, Jacob Hernandez Sanchez

We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform tasks requiring ...

AAAI2019

Bipedal walking and push recovery with a stepping strategy based on time-projection control

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

In this paper, we present a simple control framework for online push recovery on biped robots with dynamic stepping properties. Owing to relatively heavy legs in our humanoid robot COMAN, we use a linear model called 3LP, which is composed of three pendulu ...

SAGE PUBLICATIONS LTD2019

Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints

Jonas Buchli, Farbod Farshidian, Alexander Winkler

This letter combines the fast zero-moment-point approaches that work well in practice with the broader range of capabilities of a trajectory optimization formulation, by optimizing over body motion, footholds, and center of pressure simultaneously. We intr ...

2017

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot, Luca Colasanto, Allan Barrea

Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-i ...

IEEE2015

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TOPIO

Four-Arm Manipulation via Feet Interfaces

Bipedal walking and push recovery with a stepping strategy based on time-projection control

Towards Robust Bipedal Locomotion

Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Graph Chatbot

Chat with Graph Search

Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints

Towards Robust Bipedal Locomotion

Bipedal walking and push recovery with a stepping strategy based on time-projection control

Four-Arm Manipulation via Feet Interfaces

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot