Suchergebnisse

Zeitschriftenartikel (6)

  1. 1.
    Herzog, A.; Rotella, N.; Mason, S.; Grimminger, F.; Schaal, S.; Righetti, L.: Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid. Autonomous Robots (2016)
  2. 2.
    Righetti, L.; Nylen, A.; Rosander, K.; Ijspeert, A.J.: Kinematic and gait similarities between crawling human infants and other quadruped mammals. Frontiers in Neurology (2015)
  3. 3.
    Herzog, A.; Pastor, P.; Kalakrishnan, M.; Righetti, L.; Bohg, J.; Asfour, T.; Schaal, S.: Learning of Grasp Selection based on Shape-Templates. Autonomous Robots 36 (1-2), S. 51 - 65 (2014)
  4. 4.
    Righetti, L.; Kalakrishnan, M.; Pastor, P.; Binney, J.; Kelly, J.; Voorhies, R.; Sukhatme, G.; Schaal, S.: An autonomous manipulation system based on force control and optimization. Autonomous Robots 36 (1-2), S. 11 - 30 (2014)
  5. 5.
    Gregg, R.D.; Righetti, L.: Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation. IEEE Transactions on Automatic Control 58 (10), S. 2679 - 2685 (2013)
  6. 6.
    Righetti, L.; Buchli, J.; Mistry, M.; Kalakrishnan, M.; Schaal, S.: Optimal distribution of contact forces with inverse dynamics control. The International Journal of Robotics Research 32 (3), S. 280 - 298 (2013)

Buchkapitel (1)

  1. 7.
    Righetti, L.; Buchli, J.; Mistry, M.; Kalakrishnan, M.; Schaal, S.: Using Torque Redundancy to Optimize Contact Forces in Legged Robots. In: Redundancy in Robot Manipulators and Multi-Robot Systems, Bd. 57, S. 35 - 51. Springer, Berlin, Heidelberg (2013)

Konferenzbeitrag (20)

  1. 8.
    Brahayam, P.; Herzog, A.; Schaal, S.; Righetti, L.: A Convex Model of Humanoid Momentum Dynamics for Multi-Contact Motion Generation. In: Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Hg. Asfour, T.). IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, 15. November 2016 - 17. November 2016. IEEE, New York, NY, USA (2016)
  2. 9.
    Herzog, A.; Schaal, S.; Righetti, L.: Structured contact force optimization for kino-dynamic motion generation. In: Proceedings International Conference on Intelligent Robots and Systems (IROS 2016), S. 2703 - 2710 (Hg. Burgard, W.). International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 09. Oktober 2016 - 14. Oktober 2016. IEEE, New York, NY, USA (2016)
  3. 10.
    Khadiv, M.; Kleff, S.; Herzog, A.; Moosavian, S.A.A.; Schaal, S.; Righetti, L.: Stepping stabilization using a combination of DCM tracking and step adjustment. In: Proceedings 4th RSI International Conference on Robotics and Mechatronics (ICROM). The 4th International Conference on Robotics and Mechatronics (ICROM), Teheran, Iran, 26. Oktober 2016 - 28. Oktober 2016. IEEE, New York, NY (2016)
  4. 11.
    Khadiv, M.; Herzog, A.; Moosavian, S.A.A.; Righetti, L.: Step Timing Adjustment: A Step Toward Generating Robust Gaits. In: Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, 15. November 2016 - 17. November 2016. IEEE, New York, NY, USA (2016)
  5. 12.
    Mason, S.; Rotella, N.; Schaal, S.; Righetti, L.: Balancing and Walking Using Full Dynamics LQR Control with Contact Constraints. In: Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Hg. Asfour, T.). 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, 15. November 2016 - 17. November 2016. IEEE, New York, NY (2016)
  6. 13.
    Rotella, N.; Mason, S.; Schaal, S.; Righetti, L.: Inertial sensor-based humanoid joint state estimation. In: Proceedings 2016 IEEE International Conference on Robotics and Automation (ICRA), S. 1825 - 1831. 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16. Mai 2016 - 21. Mai 2016. IEEE, New York, NY, USA (2016)
  7. 14.
    Herzog, A.; Rotella, N.; Schaal, S.; Righetti, L.: Trajectory generation for multi-contact momentum-control. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids). 15th International Conference on Humanoid Robots (Humanoids), 2015, Seoul, 03. November 2015 - 05. November 2015. IEEE, New York (2015)
  8. 15.
    Rotella, N.; Herzog, A.; Schaal, S.; Righetti, L.: Humanoid Momentum Estimation Using Sensed Contact Wrenches. In: Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots. International Conference on Humanoid Robots (Humanoids), 2015, Seoul, 03. November 2015 - 05. November 2015. IEEE, New York (2015)
  9. 16.
    Herzog, A.; Righetti, L.; Grimminger, F.; Pastor, P.; Schaal, S.: Balancing experiments on a torque‐controlled humanoid with hierarchical inverse dynamics. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics Systems (IROS 2014). IEEE / RSJ International Conference on Intelligent Robotics Systems (IROS 2014), Chicago, IL, 14. September 2014 - 18. September 2014. IEEE (2014)
  10. 17.
    Rotella, N.; Bloesch, M.; Righetti, L.; Schaal, S.: State Estimation for a Humanoid Robot. In: Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2014). IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, 14. September 2014 - 18. September 2014. IEEE (2014)
  11. 18.
    Rotella, N.; Bloesch, M.; Righetti, L.; Schaal, S.: State Estimation for Walking Humanoids on Unknown Terrain. In: Proceedings of Dynamic Walking 2014. Dynamic Walking 2014, Zürich, 10. Juni 2014 - 13. Juni 2014. (2014)
  12. 19.
    Toussaint, M.; Ratliff, N.; Bohg, J.; Righetti, L.; Englert, P.; Schaal, S.: Dual Execution of Optimized Contact Interaction Trajectories. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014). IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, 14. September 2014 - 18. September 2014. (2014)
  13. 20.
    Kalakrishnan, M.; Pastor, P.; Righetti, L.; Schaal, S.: Learning Objective Functions for Manipulation. In: Proceedings IEEE International Conference on Robotics and Automation (ICRA 2013). IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, 06. Mai 2013 - 10. Mai 2013. Institute of Electrical and Electronics Engineers ( IEEE ) (2013)
 
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