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Mechanism, actuation, perception, and control of highly dynamic multilegged robots: A review
J He, F Gao - Chinese Journal of Mechanical Engineering, 2020 - Springer
Multilegged robots have the potential to serve as assistants for humans, replacing them in
performing dangerous, dull, or unclean tasks. However, they are still far from being …
performing dangerous, dull, or unclean tasks. However, they are still far from being …
Recent progress in legged robots locomotion control
J Carpentier, PB Wieber - Current Robotics Reports, 2021 - Springer
Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …
mostly flat ground in controlled settings to generic indoor and outdoor environments …
Real-time motion planning of legged robots: A model predictive control approach
F Farshidian, E Jelavic, A Satapathy… - 2017 IEEE-RAS 17th …, 2017 - ieeexplore.ieee.org
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion
planning of legged robots. The proposed approach uses a constrained optimal control …
planning of legged robots. The proposed approach uses a constrained optimal control …
Passive whole-body control for quadruped robots: Experimental validation over challenging terrain
S Fahmi, C Mastalli, M Focchi… - IEEE Robotics and …, 2019 - ieeexplore.ieee.org
We present experimental results using a passive whole-body control approach for
quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's …
quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's …
Stance: Locomotion adaptation over soft terrain
S Fahmi, M Focchi, A Radulescu, G Fink… - IEEE Transactions …, 2020 - ieeexplore.ieee.org
Whole-Body Control (WBC) has emerged as an important framework in locomotion control
for legged robots. However, most WBC frameworks fail to generalize beyond rigid terrains …
for legged robots. However, most WBC frameworks fail to generalize beyond rigid terrains …
A gradient-based neural network accelerated for vision-based control of an RCM-constrained surgical endoscope robot
This paper presents an accelerated gradient-based neural network (GNN) to achieve visual
servoing of a surgical endoscope robot. A KUKA LWR 4+ robot with seven joints is used to …
servoing of a surgical endoscope robot. A KUKA LWR 4+ robot with seven joints is used to …
Towards dynamic transparency: Robust interaction force tracking using multi-sensory control on an arm exoskeleton
Y Zimmermann, EB Küçüktabak… - 2020 IEEE/RSJ …, 2020 - ieeexplore.ieee.org
A high-quality free-motion rendering is one of the most vital traits to achieve an immersive
human-robot interaction. Rendering free-motion is notably challenging for rehabilitation …
human-robot interaction. Rendering free-motion is notably challenging for rehabilitation …
Generative design of nu's husky carbon, a morpho-functional, legged robot
A Ramezani, P Dangol, E Sihite… - … on Robotics and …, 2021 - ieeexplore.ieee.org
We report the design of a morpho-functional robot called Husky Carbon. Our goal is to
integrate two forms of mobility, aerial and quadrupedal legged locomotion, within a single …
integrate two forms of mobility, aerial and quadrupedal legged locomotion, within a single …
Next generation legged robot locomotion: A review on control techniques
The next generation of autonomous-legged robots will herald a new era in the fields of
manufacturing, healthcare, terrain exploration, and surveillance. We can expect significant …
manufacturing, healthcare, terrain exploration, and surveillance. We can expect significant …
Optimization-based motion planning for legged robots
AW Winkler - 2018 - research-collection.ethz.ch
Legged machines have the potential to traverse terrain that wheeled robots cannot. These
capabilities are useful in scenarios such as stairs in homes or debris-filled disaster scenes …
capabilities are useful in scenarios such as stairs in homes or debris-filled disaster scenes …