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Co-design optimisation of morphing topology and control of winged drones
F Bergonti, G Nava, V Wüest, A Paolino… - … on Robotics and …, 2024 - ieeexplore.ieee.org
The design and control of winged aircraft and drones is an iterative process aimed at
identifying a compromise of mission-specific costs and constraints. When agility is required …
identifying a compromise of mission-specific costs and constraints. When agility is required …
Accelerating model predictive control for legged robots through distributed optimization
This paper presents a novel approach to enhance Model Predictive Control (MPC) for
legged robots through Distributed Optimization. Our method focuses on decomposing the …
legged robots through Distributed Optimization. Our method focuses on decomposing the …
Codesign of humanoid robots for ergonomic collaboration with multiple humans via genetic algorithms and nonlinear optimization
Ergonomics is a key factor to consider when designing control architectures for effective
physical collaborations between humans and humanoid robots. In contrast, ergonomic …
physical collaborations between humans and humanoid robots. In contrast, ergonomic …
Learning to Walk and Fly with Adversarial Motion Priors
G L'Erario, D Hanover, A Romero… - 2024 IEEE/RSJ …, 2024 - ieeexplore.ieee.org
Robot multimodal locomotion encompasses the ability to transition between walking and
flying, representing a significant challenge in robotics. This work presents an approach that …
flying, representing a significant challenge in robotics. This work presents an approach that …