Legged Robots

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
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
Cite DOI
One robot for many tasks: Versatile co-design through stochastic programming
Task-Space Inverse Dynamics
A 3-hour course for PhD students about Quadratic-Progamming-based dynamic control.
Jan 1, 2020
Code
Task-Space Inverse Dynamics
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
Cite DOI arXiv
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