Centauro: A hybrid locomotion and high power resilient manipulation platform
Despite the development of a large number of mobile manipulation robots, very few
platforms can demonstrate the required strength and mechanical sturdiness to …
platforms can demonstrate the required strength and mechanical sturdiness to …
Remote mobile manipulation with the centauro robot: Full‐body telepresence and autonomous operator assistance
Solving mobile manipulation tasks in inaccessible and dangerous environments is an
important application of robots to support humans. Example domains are construction and …
important application of robots to support humans. Example domains are construction and …
Geometry-aware manipulability learning, tracking, and transfer
Body posture influences human and robot performance in manipulation tasks, as
appropriate poses facilitate motion or the exertion of force along different axes. In robotics …
appropriate poses facilitate motion or the exertion of force along different axes. In robotics …
Supervised autonomous locomotion and manipulation for disaster response with a centaur-like robot
Mobile manipulation tasks are one of the key challenges in the field of search and rescue
(SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the …
(SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the …
Cartesi/o: A ros based real-time capable cartesian control framework
This work introduces a framework for the Cartesian control of multi-legged, highly redundant
robots. The proposed framework allows the untrained user to perform complex motion tasks …
robots. The proposed framework allows the untrained user to perform complex motion tasks …
An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg
We present the development, modeling, and control of a three-degree-of-freedom
compliantly actuated leg called the eLeg, which employs both series-and parallel-elastic …
compliantly actuated leg called the eLeg, which employs both series-and parallel-elastic …
Bi-manual articulated robot teleoperation using an external RGB-D range sensor
EJ Rolley-Parnell, D Kanoulas… - … , Robotics and Vision …, 2018 - ieeexplore.ieee.org
In this paper, we present an implementation of a bi-manual teleoperation system, controlled
by a human through three-dimensional (3D) skeleton extraction. The input data is given from …
by a human through three-dimensional (3D) skeleton extraction. The input data is given from …
Learning task priorities from demonstrations
Bimanual operations in humanoids offer the possibility to carry out more than one
manipulation task at the same time, which in turn introduces the problem of task …
manipulation task at the same time, which in turn introduces the problem of task …
[HTML][HTML] Lyapunov stability of cable-driven manipulators with synthetic fibre cables regulated by non-linear full-state feedback controller
Robotic manipulators provide advantages in working environments regarding efficiency and
safety, which is further increased in the case of elastic joint manipulators, whose mechanical …
safety, which is further increased in the case of elastic joint manipulators, whose mechanical …
Robot control for dummies: Insights and examples using opensot
In this paper we present OpenSoT, an open-source, recently developed software library, that
can be used to solve robotics related control problems in a flexible and easy way. OpenSoT …
can be used to solve robotics related control problems in a flexible and easy way. OpenSoT …