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SLIP Running with an Articulated Robotic Leg
(2010)Proceedings of the International Conference on Intelligent Robots and Systems ~ 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2010) ; Taipei, Taiwan, 18 - 22 October 2010Conference Paper -
Probabilistic Foot Contact Estimation by Fusing Information from Dynamics and Differential/Forward Kinematics
(2016)Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)Conference Paper -
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An adaptive landing gear for extending the operational range of helicopters
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Adapting to the ground enables stable footholds in legged locomotion by exploiting the structure of the terrain. On that account, we present a passive adaptive planar foot with three rotational degrees of freedom that is lightweight and thus suited for highly dynamic legged robots. Its low laying pivot joint provides high stability towards kinking. Information about the relative foot sole pose, and accordingly, the ground orientation ...Conference Paper -
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
(2019)2019 International Conference on Robotics and Automation (ICRA)Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact se- quence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the- art approaches cast motion planning as an optimal control problem. In order to decrease computational complexity, one common strategy separates footstep planning from motion optimization and plans contacts using ...Conference Paper -
Autonomous robotic stone stacking with online next best object target pose planning
(2017)Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -