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07/31/2023
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
Legged locomotion is arguably the most suited and versatile mode to deal...
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07/26/2023
Towards Continuous Time Finite Horizon LQR Control in SE(3)
The control of free-floating robots requires dealing with several challe...
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05/15/2023
AcroMonk: A Minimalist Underactuated Brachiating Robot
Brachiation is a dynamic, coordinated swinging maneuver of body and arms...
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11/28/2022
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
Linear-quadratic regulators (LQR) are a well known and widely used tool ...
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02/24/2022
An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints
The optimization of parallel kinematic manipulators (PKM) involve severa...
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03/10/2021
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
Derivatives of equations of motion describing the rigid body dynamics ar...
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01/26/2021
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
Last decades of humanoid research has shown that humanoids developed for...
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07/29/2020
A Development Cycle for Automated Self-Exploration of Robot Behaviors
In this paper we introduce Q-Rock, a development cycle for the automated...
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05/25/2020
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
Motion planning is a difficult problem in robot control. The complexity ...
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03/19/2020
A comparative study on 2-DOF variable stiffness mechanisms
Based on the idea of variable stiffness mechanisms, a variety of such me...
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02/29/2020