article-journal

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
Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots
Michele Focchi, Daniele Pucci, Andrea Del Prete
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One robot for many tasks: Versatile co-design through stochastic programming
Versatility is one of the main factors driving the adoption of robots on the assembly line and in other applications. Compared to …
Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing
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One robot for many tasks: Versatile co-design through stochastic programming
2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios
Fig. 1. Multi contact motions synthesized by our method. Synthesizing motions for legged characters in arbitrary environments is a …
Steve Tonneau, Andrea Del Prete, Julien Pettre, Nicolas Mansard
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An Efficient Acyclic Contact Planner for Multiped Robots
We present a framework capable of producing contact plans describing complex multiped motions (including humanoid): standing up, …
Steve Tonneau, Andrea Del Prete, Julien Pettre, Chonhyon Park, Dinesh Manocha, Nicolas Mansard
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Joint Position and Velocity Bounds in Discrete-Time Acceleration / Torque Control of Robot Manipulators
Andrea Del Prete
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Zero Step Capturability for Legged Robots in Multicontact
The ability to anticipate a fall is fundamental for any robot that has to balance. Currently, fast fall-prediction algorithms only …
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
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Zero Step Capturability for Legged Robots in Multicontact
Regularized Hierarchical Differential Dynamic Programming
Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori
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Regularized Hierarchical Differential Dynamic Programming
High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots
Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin Caldwell, Claudio Semini
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High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots
Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors
Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, Francesco Nori
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Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors