Based on a recently developed ”generalized averaging theory,” we present a generic approach for the design of stabilizing feedback controllers for biomimetic locomotive systems...
A dominant approach to Satisfiability Modulo Theories (SMT) relies on the integration of a Conflict-Driven-Clause-Learning (CDCL) SAT solver and of a decision procedure able to h...
Alberto Griggio, Quoc-Sang Phan, Roberto Sebastian...
— In this paper, we apply a general framework for building complex whole-body control for highly redundant robot, and we propose to implement it for visually-guided grasping whil...
— This article addresses the fast solution of a Quadratic Program underlying a Linear Model Predictive Control scheme that generates walking motions. We introduce an algorithm wh...
In this study, we intend to show the basis of a general legged locomotion controller with the ability to integrate both posture and rhythmic motion controls and shift continuously ...