6 accepted papers
The lack of computational power on mobile robots is a well-known challenge when it comes to implementing a real-time MPC scheme to perform complex motions. Currently the best solvers are barely able to reach 100 Hz for computing the control of a whole-body legged model, while modern robots are expec
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variables to represent which contact surface is selected, and then to rely on modern mixed-integer (MI) optimization solvers to…
We tackle the transition feasibility problem, that is the issue of determining whether there exists a feasible motion connecting two configurations of a legged robot. To achieve this we introduce CROC, a novel method for computing centroidal dynamics trajectories in multi-contact planning contexts.…
We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including jumping, going down a very steep slope, or recovering from a push using the arms of the robot. The approach is automatic and generic: non-gaited motions, comprising arbitrary contact…
transHumUs is an artistic work recently exhibited at the 56th Venice Biennale. The work aims at freeing trees from their roots. How to translate this poetic ambition into technological terms? This paper reports on the setup and the implementation of the project. It shows how state of the art mobile
We consider the manipulation planning problem of an extensible elastic rod in collision-free or contact space. We assume the rod can be handled by grippers either at both or at only one of its extremities and during the manipulation, the grasped end may change. We show that the use of both quasi-sta…