3LP: a linear 3D-walking model including torso and swing dynamics
Graph Chatbot
Chat with Graph Search
Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
We investigated postural control (PC) effects of a mountain ultra-marathon (MUM): a 330-km trail run with 24000 m of positive and negative change in elevation. PC was assessed prior to (PRE), during (MID) and after (POST) the MUM in experienced ultra-marat ...
We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion syste ...
In this paper we consider a linear system represented by a coupling graph between subsystems and propose a distributed control scheme capable to guarantee asymptotic stability and satisfaction of constraints on system inputs and states. Most importantly, a ...
In Control System Theory, the study of continuous-time, finite dimensional, underdetermined systems of ordinary differential equations is an important topic. Classification of systems in different categories is a natural initial step to the analysis of a g ...
Quadrupedal animals move through their environments with unmatched agility and grace. An important part of this is the ability to choose between different gaits in order to travel optimally at a certain speed or to robustly deal with unanticipated perturba ...
In this paper we present a closed-loop optimal control approach for the online control of a legged robot locomotion, particularly the hopping of a simulated monoped robot. Modeling is done based on the spring loaded inverted pendulum (SLIP) model suggested ...
This paper introduces and studies a class of optimal control problems based on the Clebsch approach to Euler-Poincare dynamics. This approach unifies and generalizes a wide range of examples appearing in the literature: the symmetric formulation of N-dimen ...
This paper presents a compact model for LINC (linear amplification with non linear components) transmitters an their power combiners. The study focuses on the detrimental effect of the transmission line nonidealities. A mathematical description of the syst ...
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011
A gradient-descent method for the run-to-run tuning of MPC controllers is proposed. It is shown that, with an assumption on process repeatability, the MPC tuning parameters may be brought to a locally optimal set. SISO and MIMO examples illustrate the char ...
In this research we aim at proposing a general novel walking method for locomotion of torque controlled robots. The method should be able to produce a wide range of speeds without requiring off-line optimizations and re-tuning of parameters. It should be ca ...