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Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design Through Kineto-Static Bi-Level Optimization
Enrico Mingo Hoffman, Daniel Costanzi, Gabriele Fadini, Narcis Miguel, Andrea Del Prete, Luca Marchionni
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Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design Through Kineto-Static Bi-Level Optimization
ALPINE: A climbing robot for operations in mountain environments
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations …
Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli
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ALPINE: A climbing robot for operations in mountain environments
Co-designing versatile quadruped robots for dynamic and energy-efficient motions
This paper presents a bi-level optimization framework to concurrently optimize a quadruped hardware and control policies for achieving …
Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères
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Co-designing versatile quadruped robots for dynamic and energy-efficient motions
Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading
We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered …
Riccardo Bertollo, Gianni Lunardi, Andrea Del Prete, Luca Zaccarian
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Optimization-Based Control for Dynamic Legged Robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from …
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
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CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality
This letter presents a novel algorithm for the continuous control of dynamical systems that combines Trajectory Optimization (TO) and …
Gianluigi Grandesso, Elisa Alboni, Gastone P.Rosati Papini, Patrick M. Wensing, Andrea Del Prete
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CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality
Modeling the Human Gait Phases by Using Bèzier Curves to Generate Walking Trajectories for Lower-Limb Exoskeletons
The clinical usage of powered exoskeletons for the rehabilitation of patients affected by lower limb disorders has been constantly …
Matteo Zuccatti, Gaia Zinni, Stefano Maludrottu, Valentina Pericu, Matteo Laffranchi, Andrea Del Prete, Lorenzo De Michieli, Christian Vassallo
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Optimization-Based Control for Dynamic Legged Robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from …
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Cite DOI arXiv
Optimization-Based Control for Dynamic Legged Robots
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. …
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
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Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
Reactive Landing Controller for Quadruped Robots
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely …
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G Caldwell, Claudio Semini
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Reactive Landing Controller for Quadruped Robots