[HTML][HTML] Multi-contact planning and control for humanoid robots: Design and validation of a complete framework
In this paper, we consider the problem of generating appropriate motions for a torque-
controlled humanoid robot that is assigned a multi-contact loco-manipulation task, ie, a task …
controlled humanoid robot that is assigned a multi-contact loco-manipulation task, ie, a task …
Flexible disaster response of tomorrow: Final presentation and evaluation of the centauro system
Mobile manipulation robots have great potential for roles in support of rescuers on disaster-
response missions. Robots can operate in places too dangerous for humans and therefore …
response missions. Robots can operate in places too dangerous for humans and therefore …
Inverse kinematics and planning/control co-design method of redundant manipulator for precision operation: Design and experiments
In this paper, we proposed two novel algorithms to improve the operating accuracy and
operating efficiency of the 7-DoF redundant manipulator. Firstly, an improved adaptive …
operating efficiency of the 7-DoF redundant manipulator. Firstly, an improved adaptive …
[HTML][HTML] The xbot2 real-time middleware for robotics
A Laurenzi, D Antonucci, NG Tsagarakis… - Robotics and …, 2023 - Elsevier
This paper introduces XBot2, a novel real-time middleware for robotic applications with a
strong focus on modularity and reusability of components, and seamless support for multi …
strong focus on modularity and reusability of components, and seamless support for multi …
Multi-contact heavy object pushing with a centaur-type humanoid robot: Planning and control for a real demonstrator
Performing a demanding manipulation task with a multi-legged loco-manipulation platform
may require the exploitation of multiple external contacts with different environment surfaces …
may require the exploitation of multiple external contacts with different environment surfaces …
Toward a plug-and-work reconfigurable cobot
The ongoing trend from mass-produced to mass-customized products with batch sizes as
small as a single unit has highlighted the need for highly adaptable robotic systems with …
small as a single unit has highlighted the need for highly adaptable robotic systems with …
[HTML][HTML] Extending the motion planning framework—MoveIt with advanced manipulation functions for industrial applications
MoveIt is the primary software library for motion planning and mobile manipulation in ROS,
and it incorporates the latest advances in motion planning, control and perception. However …
and it incorporates the latest advances in motion planning, control and perception. However …
The XBot real-time software framework for robotics: From the developer to the user perspective
The widespread use of robotics in new application domains beyond industrial workplace
settings necessitates systems that demonstrate functionalities far exceeding those of …
settings necessitates systems that demonstrate functionalities far exceeding those of …
Autonomous navigation with online replanning and recovery behaviors for wheeled-legged robots using behavior trees
A De Luca, L Muratore… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
Performing autonomous navigation in cluttered and unstructured terrains still remains a
challenging task for legged and wheeled mobile robots. To accomplish such a task, online …
challenging task for legged and wheeled mobile robots. To accomplish such a task, online …
Terrain segmentation and roughness estimation using rgb data: Path planning application on the centauro robot
V Suryamurthy, VS Raghavan… - 2019 IEEE-RAS 19th …, 2019 - ieeexplore.ieee.org
Robots operating in real world environments require a high-level perceptual understanding
of the chief physical properties of the terrain they are traversing. In unknown environments …
of the chief physical properties of the terrain they are traversing. In unknown environments …