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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 -
Foot-Eye Calibration of Legged Robot Kinematics
(2016)Advances in Cooperative Robotics. Proceedings of the 19th International Conference on CLAWAR 2016Conference Paper -
Navigation Planning for Legged Robots in Challenging Terrain
(2016)Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)Conference Paper -
Collaborative Localization of Aerial and Ground Robots through Elevation Maps
(2016)Conference Paper -
Foot Contact Estimation for Legged Robots in Rough Terrain
(2016)Advances in Cooperative Robotics: Proceedings of the 19th International Conference on CLAWAR 2016Accurate sensing of the terrain shape is a key issue for robots moving in rough environments. For legged robots, an important aspect is the terrain inclination for each foot which is in contact with the ground. Knowledge about the terrain inclination is required to design controllers that mitigate the risk of slippage by minimizing the tangential forces applied on the ground. In this paper, we introduce a method to estimate the contact ...Conference Paper -
Free Gait – An Architecture for the Versatile Control of Legged Robots
(2016)Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)Conference Paper -
Perception-less Terrain Adaptation through Whole Body Control and Hierarchical Optimization
(2016)Conference Paper -
Collaborative Navigation for Flying and Walking Robots
(2016)2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper