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31 résultats
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triés par
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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive ControllerIEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. 9p
Communication dans un congrès
hal-01591373v1
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Regularized Hierarchical Differential Dynamic ProgrammingIEEE Transactions on Robotics, 2017, 33 (4), pp.819-833
Article dans une revue
hal-01356992v2
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Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse DynamicsIEEE Transactions on Robotics, 2016, 32 (5), pp. 1091-1105. ⟨10.1109/TRO.2016.2593027⟩
Article dans une revue
hal-01241974v2
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High-slope Terrain Locomotion for Torque-Controlled Quadruped RobotsAutonomous Robots, 2017, 41 (1), pp.259-272. ⟨10.1007/s10514-016-9573-1⟩
Article dans une revue
hal-01137225v3
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Zero Step Capturability for Legged Robots in Multi ContactIEEE Transactions on Robotics, 2018, 34 (4), pp.1021-1034. ⟨10.1109/TRO.2018.2820687⟩
Article dans une revue
hal-01574687v2
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A Kinodynamic steering-method for legged multi-contact locomotionIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 7p
Communication dans un congrès
hal-01486933v2
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Whole-body Model-Predictive Control applied to the HRP-2 HumanoidIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p
Communication dans un congrès
hal-01137021v1
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iCub whole-body control through force regulation on rigid non-coplanar contactsFrontiers in Robotics and AI, 2015, pp.18. ⟨10.3389/frobt.2015.00006⟩
Article dans une revue
hal-01137239v1
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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level GroundInternational Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Jul 2017, Madrid, Spain
Communication dans un congrès
hal-01533136v1
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Inertial parameters identification and joint torques estimation with proximal force/torque sensing2015 IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Seattle, WA, United States
Communication dans un congrès
hal-01131610v1
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Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot ManipulatorsIEEE Robotics and Automation Letters, 2018, 3 (1), pp.281-288. ⟨10.1109/LRA.2017.2738321⟩
Article dans une revue
hal-01356989v3
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TALOS: A new humanoid research platform targeted for industrial applicationsInternational Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩
Communication dans un congrès
hal-01485519v2
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Exploring the limits of a hybrid actuation system through Co-Design2020
Pré-publication, Document de travail
hal-02885957v1
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Exploring the limits of a hybrid actuation system through Co-Design - Technical Report[Technical Report] University of Trento. 2020
Rapport
hal-02737086v2
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Partial force control of constrained floating-base robotsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sep 2014, Chicago, United States. pp.3227-3232, ⟨10.1109/IROS.2014.6943010⟩
Communication dans un congrès
hal-01988899v1
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Fast Algorithms to Test Robust Static Equilibrium for Legged RobotsIEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp. 1601-1607
Communication dans un congrès
hal-01201060v2
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Experimental Evaluation of Simple Estimators for Humanoid RobotsIEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom
Communication dans un congrès
hal-01574819v2
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Solving Footstep Planning as a Feasibility Problem using L1-norm MinimizationIEEE Robotics and Automation Letters, 2021, 6 (3), pp.5961 - 5968. ⟨10.1109/LRA.2021.3088797⟩
Article dans une revue
hal-03435135v1
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An analytical model of rolling contact and its application to the modeling of bipedal locomotionIMA Conference on Mathematics of Robotics, Sep 2015, Oxford, United Kingdom
Communication dans un congrès
hal-01182733v1
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Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque SensorsInternational Journal of Humanoid Robotics, 2016, 13 (1), pp.1550044
Article dans une revue
hal-01136936v2
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An efficient acyclic contact planner for multiped robotsIEEE Transactions on Robotics, 2018, 34 (3), pp.586-601. ⟨10.1109/TRO.2018.2819658⟩
Article dans une revue
hal-01267345v3
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Balancing Legged Robots on Visco-Elastic Contacts2019
Pré-publication, Document de travail
hal-02310082v1
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Online Payload Identification for Quadruped RobotsEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 8p
Communication dans un congrès
hal-01575033v1
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Prioritized Optimal Control: a Hierarchical Differential Dynamic Programming approach2015 IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Washington State Convention Center, Seattle, Washington, United States
Communication dans un congrès
hal-01121341v1
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Addressing Constraint Robustness to Torque Errors in Task-Space Inverse DynamicsRobotics, Sciences and Systems 2015, Jul 2015, Rome, Italy
Communication dans un congrès
hal-01109375v2
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SL1M: Sparse L1-norm Minimization for contact planning on uneven terrainIEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197371⟩
Communication dans un congrès
hal-02293234v1
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Computational design of energy-efficient legged robots: Optimizing for size and actuatorsIEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xian, China. ⟨10.1109/ICRA48506.2021.9560988⟩
Communication dans un congrès
hal-02993624v2
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Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D projectRSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p
Communication dans un congrès
hal-01543060v1
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2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact ScenariosACM Transactions on Graphics, 2018, 37 (5), pp.176. ⟨10.1145/3213773⟩
Article dans une revue
hal-01609055v2
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Simulation aided co-design for robust robot optimizationIEEE Robotics and Automation Letters, 2022, 7 (4), pp.11306 - 11313. ⟨10.1109/LRA.2022.3200142⟩
Article dans une revue
hal-03592085v3
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