Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach
Graph Chatbot
Chattez avec Graph Search
Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.
AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.
Recent developments in lower extremities wearable robotic devices for the assistance and rehabilitation of humans suffering from an impairment have led to several successes in the assistance of people who as a result regained a certain form of locomotive c ...
In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...
This paper deals with stochastic model predictive control of constrained discrete-time periodic linear systems. Control inputs are subject to periodically time-varying polytopic constraints with possibly time-dependent state and input dimensions. A stochas ...
The extensive use of frequency-domain tools for analyzing and controlling linear systems have become indispensable for the control systems engineer. However, due to the increased performance demands on today's industrial systems, the effects of certain non ...
A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of ...
The objective of this dissertation is to develop data-driven frequency-domain methods for designing robust controllers through the use of convex optimization algorithms. Many of today's industrial processes are becoming more complex, and modeling accurate ...
Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...
The extensive use of frequency-domain tools for analyzing and controlling linear systems have become indispensable for the control systems engineer. However, due to the increased performance demands on today's industrial systems, the effects of certain non ...
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...
The extensive use of frequency-domain tools for analyzing and controlling linear systems have become indispensable for the control systems engineer. However, due to the increased performance demands on today's industrial systems, the effects of certain non ...
