Evaluating direct transcription and nonlinear optimization methods for robot motion planning
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Many studies on collective animal behavior seek to identify the individual rules that underlie collective patterns. However, it was not until the recent advancements of micro-electronic and embedded systems that scientists were able to create mixed groups ...
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...
Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified
or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common
benchmark can be found. Further, it is unclear, what minimal leve ...
Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast motion planning ...
Continual developments in robotic technology have enabled the use of robots in everyday applications in domestic, office and public spaces. Although single robot problems have been the main focus of social robotics research, applications of robots in socia ...
Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...
We discuss challenges a sprawling posture legged robot faces when moving in a complex environment. These kind of robots can be used for search and rescue applications when proper sensors are used and placed correctly. Finding an adequate position for placi ...
Existing camera networks in public spaces such as train terminals or malls can help social robots to navigate crowded scenes. However, the localization of the cameras is required, i.e., the positions and poses of all cameras in a unique reference. In this ...
Robots have the potential to display a higher degree of lifetime morphological adaptation than natural organisms. By adopting a modular approach, robots with different capabilities, shapes, and sizes could, in theory, construct and reconfigure themselves a ...
