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Reference-free Model Predictive Control for Quadrupedal Locomotion
Full-dynamics model predictive control (MPC) has recently been applied to quadrupedal locomotion in semi-unstructured environments. …
Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete
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Reference-free Model Predictive Control for Quadrupedal Locomotion
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control
Safety is often the most important requirement in robotics applications. Nonetheless, control techniques that can provide safety …
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
Cite DOI arXiv
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control
Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contacts
The simulation of multibody systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer …
Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete
Cite DOI arXiv
Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contacts
Meeting sustainable development goals via robotics and autonomous systems
Robotics and autonomous systems are reshaping the world, changing healthcare, food production and biodiversity management. While they …
Solène Guenat, Phil Purnell, Zoe G. Davies, Maximilian Nawrath, Lindsay C. Stringer, Giridhara Rathnaiah Babu, Muniyandi Balasubramanian, Erica E.F. Ballantyne, Bhuvana Kolar Bylappa, Bei Chen, Peta De Jager, Andrea Del Prete, Alessandro Di Nuovo, Cyril O. Ehi-Eromosele, Mehran Eskandari Torbaghan, Karl L. Evans, Markus Fraundorfer, Wissem Haouas, Josephat U. Izunobi, Juan Carlos Jauregui-Correa, Bilal Y. Kaddouh, Sonia Lewycka, Ana C. MacIntosh, Christine Mady, Carsten Maple, Worku N. Mhiret, Rozhen Kamal Mohammed-Amin, Olukunle Charles Olawole, Temilola Oluseyi, Caroline Orfila, Alessandro Ossola, Marion Pfeifer, Tony Pridmore, Moti L. Rijal, Christine C. Rega-Brodsky, Ian D. Robertson, Christopher D.F. Rogers, Charles Rougé, Maryam B. Rumaney, Mmabaledi K. Seeletso, Mohammed Z. Shaqura, L. M. Suresh, Martin Nicholas Sweeting, Nick Taylor Buck, M. U. Ukwuru, Thomas Verbeek, Hinrich Voss, Zia Wadud, Xinjun Wang, Neil Winn, Martin Dallimer
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Meeting sustainable development goals via robotics and autonomous systems
Robust Walking Based on MPC with Viability Guarantees
Model predictive control (MPC) has shown great success for controlling complex systems, such as legged robots. However, when closing …
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
Cite DOI arXiv
Robust Walking Based on MPC with Viability Guarantees
Simulation aided co-design for robust robot optimization
Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Philippe Souères
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Exploring the limits of a redundant actuation system through Co-Design
Gianluigi Grandesso, Gabriel Bravo-Palacios, Patrick M Wensing, Marco Fontana, Andrea Del Prete
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Exploring the limits of a redundant actuation system through Co-Design
Reactive Balance Control for Legged Robots under Visco-Elastic Contacts
Thomas Flayols, Andrea Del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti
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Reactive Balance Control for Legged Robots under Visco-Elastic Contacts
Robust Co-Design: Coupling Morphology and Feedback Design Through Stochastic Programming
This article proposes a new framework for the computational design of robots that are robust to disturbances. The framework combines …
Gabriel Bravo-Palacios, Gianluigi Grandesso, Andrea Del Prete, Patrick M. Wensing
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Robust Co-Design: Coupling Morphology and Feedback Design Through Stochastic Programming
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization
One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each …
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
Cite DOI arXiv
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization