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检索条件"主题词=Optimization and Optimal Control"
486 条 记 录,以下是71-80 订阅
排序:
Constrained Articulated Body Dynamics Algorithms
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IEEE TRANSACTIONS ON ROBOTICS 2025年 41卷 430-449页
作者: Sathya, Ajay Suresha Carpentier, Justin PSL Res Univ Ecole Normale Super Inria Dept Informat F-75006 Paris France Katholieke Univ Leuven Dept Mech Engn MECO Res Team B-3001 Leuven Belgium Katholieke Univ Leuven Flanders Make B-3001 Leuven Belgium
Rigid-body dynamics algorithms have played an essential role in robotics development. By finely exploiting the underlying robot structure, they allow the computation of the robot kinematics, dynamics, and related phys... 详细信息
来源: 评论
A Tutorial on Distributed optimization for Cooperative Robotics: From Setups and Algorithms to Toolboxes and Research Directions
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PROCEEDINGS OF THE IEEE 2025年 第1期113卷 40-65页
作者: Testa, Andrea Carnevale, Guido Notarstefano, Giuseppe Univ Bologna Dept Elect Elect & Informat Engn I-40136 Bologna Italy
Several interesting problems in multirobot systems can be cast in the framework of distributed optimization. Examples include multirobot task allocation, vehicle routing, target protection, and surveillance. While the... 详细信息
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Pushing Everything Everywhere All at Once: Probabilistic Prehensile Pushing
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第5期10卷 4540-4547页
作者: Perugini, Patrizio Lundell, Jens Friedl, Katharina Kragic, Danica KTH SE-10044 Stockholm Sweden Flanders Make B-3001 Leuven Belgium Kungliga Tekn Hogskolan KTH Div Robot Percept & Learning SE-10044 Stockholm Brazil
We address prehensile pushing, the problem of manipulating a grasped object by pushing against the environment. Our solution is an efficient nonlinear trajectory optimization problem relaxed from an exact mixed intege... 详细信息
来源: 评论
Globally optimal Inverse Kinematics as a Non-Convex Quadratically Constrained Quadratic Program
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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年 第6期9卷 5998-6003页
作者: Votroubek, Tomas Kroupa, Tomas Czech Tech Univ Fac Elect Engn Dept Comp Sci Prague 2 Czech Republic
We show how to compute globally optimal solutions to inverse kinematics by formulating the problem as a non-convex quadratically constrained quadratic program. Our approach makes solving inverse kinematics instances o... 详细信息
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Fast Direct optimal control for Humanoids Based on Dynamics Representation in FPC Latent Space
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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年 第4期9卷 3823-3830页
作者: Shimizu, Soya Ayusawa, Ko Venture, Gentiane Tokyo Univ Agr & Technol Grad Sch Engn Dept Mech Syst Engn Koganei Tokyo 1848588 Japan Natl Inst Adv Ind Sci & Technol Human Augmentat Res Ctr Kashiwa Chiba 2770082 Japan CNRS AIST JRL Joint Robot Lab UMI3218 RL Tsukuba Ibaraki 3058560 Japan Univ Tokyo Dept Mech Engn Bunkyo ku Tokyo 1138656 Japan
This study introduces a novel approach to Humanoid Robot Motion Generation using Functional Principal Component Analysis (FPCA) within the framework of Direct optimal control (DOC). FPCA efficiently compresses high-di... 详细信息
来源: 评论
Robust Jumping With an Articulated Soft Quadruped Via Trajectory optimization and Iterative Learning
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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年 第1期9卷 255-262页
作者: Ding, Jiatao Sels, Mees A. van Loben Angelini, Franco Kober, Jens Della Santina, Cosimo Delft Univ Technol Dept Cognit Robot NL-2628 CD Delft Netherlands Univ Pisa Ctr Ric Enrico Piaggio I-56126 Pisa Italy Univ Pisa Dipartimento Ingn Informaz I-56126 Pisa Italy German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany
Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic effects. In this work, we aim to increase the robustness of quadrupedal periodic forward jumping (i.e., pronking) by unifying cutting... 详细信息
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Locomotion control With Slip Detection for Quadruped Robot, PongBot
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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2024年 第12期22卷 3744-3752页
作者: Kim, Kyung-Hwan Kim, Jung-Yup Seoul Natl Univ Sci & Technol Dept Mech Design & Robot Engn 232 Gongneung Ro Seoul 01811 South Korea
Quadruped robots have excellent mobility, allowing them to overcome various terrains. For this reason, a growing body of research has explored quadruped robot locomotion control. Many prior studies have addressed stat... 详细信息
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A Novel Closed-Form Approach for Enhancing Efficiency in Pose Estimation From 3D Correspondences
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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年 第2期9卷 1843-1850页
作者: Malis, Ezio Univ Cote dAzur ACENTAURI team Inria F-06902 Paris France
Determining the pose using 3D data captured from two distinct frames holds significant significance in various robotic applications such as odometry, simultaneous localization and mapping and place recognition. Typica... 详细信息
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Toward Globally optimal State Estimation Using Automatically Tightened Semidefinite Relaxations
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IEEE TRANSACTIONS ON ROBOTICS 2024年 40卷 4338-4358页
作者: Dumbgen, Frederike Holmes, Connor Agro, Ben Barfoot, Timothy PSL Univ Ecole Normale Super Inria F-75006 Paris France Univ Toronto Robot Inst Toronto ON M5S 1A1 Canada
In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that speci... 详细信息
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Transformer-Based Model Predictive control: Trajectory optimization via Sequence Modeling
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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年 第11期9卷 9820-9827页
作者: Celestini, Davide Gammelli, Daniele Guffanti, Tommaso D'Amico, Simone Capello, Elisa Pavone, Marco Politecn Torino Dept Mech & Aerosp Engn I-10129 Turin Italy Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest... 详细信息
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