Carmine Dario Bellicoso — accepted AI-conference papers

2018

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring +2

RA-L 2018

In this letter, we present a whole-body nonlinear model predictive control approach for rigid body systems subject to contacts. We use a full-dynamic system model which also includes explicit contact dynamics. Therefore, contact locations, sequences, and timings are not prespecified but optimized by

Cited by 292 Source ↗Scholar ↗

2016

Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics

Jemin Hwangbo, Carmine Dario Bellicoso, Péter Fankhauser, Marco Hutter

IROS 2016poster

Legged robots require a robust and fast responding feet contact detection strategy. Common force sensors are often too heavy and can be easily damaged during impacts with the terrain. Therefore, it is desirable to detect a contact without a force sensor. This paper introduces a probabilistic contact…

Cited by 67 Source ↗Scholar ↗