StarlETH: A compliant quadrupedal robot for fast, efficient, and versatile locomotion
This paper introduces Starl ETH, a compliant quadrupedal robot that is designed to study
fast, efficient, and versatile locomotion. The platform is fully actuated with high compliant …
fast, efficient, and versatile locomotion. The platform is fully actuated with high compliant …
Toward combining speed, efficiency, versatility, and robustness in an autonomous quadruped
This paper provides an overview about StarlETH: a compliant quadrupedal robot that is
designed to study fast, efficient, versatile, and robust locomotion. The platform is driven by …
designed to study fast, efficient, versatile, and robust locomotion. The platform is driven by …
Quadrupedal locomotion using hierarchical operational space control
This paper presents the application of operational space control based on hierarchical task
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
[PDF][PDF] RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages
This paper presents the Robotics Code Generator (RobCoGen), an open source program
that can generate an efficient implementation of rigid body dynamics and kinematics …
that can generate an efficient implementation of rigid body dynamics and kinematics …
Prioritized motion–force control of constrained fully-actuated robots:“Task Space Inverse Dynamics”
We present a new framework for prioritized multi-task motion/force control of fully-actuated
robots. This work is established on a careful review and comparison of the state of the art …
robots. This work is established on a careful review and comparison of the state of the art …
Hybrid operational space control for compliant legged systems
This paper introduces the concept of hybrid operational space control, a method that unifies
kinematic tracking of individual joints with an inverse dynamics task space controller for the …
kinematic tracking of individual joints with an inverse dynamics task space controller for the …
[图书][B] Whole-body impedance control of wheeled humanoid robots
A Dietrich - 2016 - Springer
This monograph is based on my Ph. D. thesis written at the Institute of Robotics and
Mechatronics of the German Aerospace Center (DLR) in Oberpfaffenhofen. The thesis was …
Mechatronics of the German Aerospace Center (DLR) in Oberpfaffenhofen. The thesis was …
Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains
L Sentis, J Petersen, R Philippsen - Autonomous Robots, 2013 - Springer
In this work, we implement the floating base prioritized whole-body compliant control
framework described in Sentis et al.(IEEE Transactions on Robotics 26 (3): 483–501, 2010) …
framework described in Sentis et al.(IEEE Transactions on Robotics 26 (3): 483–501, 2010) …
Passivation of projection-based null space compliance control via energy tanks
A manipulator with kinematic redundancy wrt a main task enables to perform an additional,
subordinate task in its null space. The classical hierarchy-based approach is to apply …
subordinate task in its null space. The classical hierarchy-based approach is to apply …
Adaptive hands-on control for reaching and targeting tasks in surgery
E Beretta, E De Momi… - International …, 2015 - journals.sagepub.com
Cooperatively controlled robotic assistants can be used in surgery for the repetitive
execution of targeting/reaching tasks, which require smooth motions and accurate …
execution of targeting/reaching tasks, which require smooth motions and accurate …