Physically Consistent Lie Group Mesh Models for Robot Design and Motion Co-Optimization
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3189806
Abstract: With recent advances in rapid prototyping and mechatronics, the problem of simultaneous design and motion optimization, or the co-design problem, is becoming more and more relevant in robotics. For reasons of computational tractability, all existing… read more here.
Keywords: consistent lie; lie group; motion optimization; design motion ... See more keywords
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3186804
Abstract: Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This article presents the complete control pipeline capable of handling the aforementioned problems in… read more here.
Keywords: aware motion; motion optimization; optimization legged; tamols terrain ... See more keywords