Perception-less terrain adaptation through whole body control and hierarchical optimization (Englisch)
- Neue Suche nach: Dario Bellicoso, C.
- Neue Suche nach: Gehring, Christian
- Neue Suche nach: Hwangbo, Jemin
- Neue Suche nach: Fankhauser, Peter
- Neue Suche nach: Hutter, Marco
- Neue Suche nach: Dario Bellicoso, C.
- Neue Suche nach: Gehring, Christian
- Neue Suche nach: Hwangbo, Jemin
- Neue Suche nach: Fankhauser, Peter
- Neue Suche nach: Hutter, Marco
In:
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
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558-564
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2016
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ISSN:
- Aufsatz (Konferenz) / Elektronische Ressource
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Titel:Perception-less terrain adaptation through whole body control and hierarchical optimization
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Beteiligte:Dario Bellicoso, C. ( Autor:in ) / Gehring, Christian ( Autor:in ) / Hwangbo, Jemin ( Autor:in ) / Fankhauser, Peter ( Autor:in ) / Hutter, Marco ( Autor:in )
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Erschienen in:
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Verlag:
- Neue Suche nach: IEEE
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Erscheinungsdatum:01.11.2016
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Format / Umfang:1286540 byte
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ISBN:
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ISSN:
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DOI:
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Medientyp:Aufsatz (Konferenz)
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Format:Elektronische Ressource
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Sprache:Englisch
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Datenquelle:
Inhaltsverzeichnis Konferenzband
Die Inhaltsverzeichnisse werden automatisch erzeugt und basieren auf den im Index des TIB-Portals verfügbaren Einzelnachweisen der enthaltenen Beiträge. Die Anzeige der Inhaltsverzeichnisse kann daher unvollständig oder lückenhaft sein.
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On-line joint limit avoidance for torque controlled robots by joint space parametrizationCharbonneau, Marie / Nori, Francesco / Pucci, Daniele et al. | 2016
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If looks could kill: Humanoid robots play a gaze-based social game with humansPalinko, Oskar / Sciutti, Alessandra / Wakita, Yujin / Matsumoto, Yoshio / Sandini, Giulio et al. | 2016
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Robust optimization of system compliance for physical interaction in uncertain scenariosGaspard, G. M. / Fabiani, F. / Garabini, M. / Pallottino, L. / Catalano, M. / Grioli, G. / Persichin, R. / Bicchi, A. et al. | 2016
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Part-based grasp planning for familiar objectsVahrenkamp, Nikolaus / Westkamp, Leonard / Yamanobe, Natsuki / Aksoy, Eren E. / Asfour, Tamim et al. | 2016
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Tactile-based compliance with hierarchical force propagation for omnidirectional mobile manipulatorsLeboutet, Quentin / Dean-Leon, Emmanuel / Cheng, Gordon et al. | 2016
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A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situationSerra, Diana / Brasseur, Camille / Sherikov, Alexander / Dimitrov, Dimitar / Wieber, Pierre-Brice et al. | 2016
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Open source integrated 3D footstep planning framework for humanoid robotsStumpf, Alexander / Kohlbrecher, Stefan / Conner, David C. / von Stryk, Oskar et al. | 2016
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Latent Kullback-Leibler control for dynamic imitation learning of whole-body behaviors in humanoid robotsAriki, Yuka / Matsubara, Takamitsu / Hyon, Sang-Ho et al. | 2016
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VBLA, a swing leg control approach for humans and robotsSharbafi, Maziar A. / Seyfarth, Andre et al. | 2016
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Let's handshake and I'll know who you are: Gender and personality discrimination in human-human and human-robot handshaking interactionOrefice, Pierre-Henri / Ammi, Mehdi / Hafez, Moustapha / Tapus, Adriana et al. | 2016
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Two ways of walking: Contrasting a reflexive neuro-controller and a LIP-based ZMP-controller on the humanoid robot ARMAR-4Goldbeck, Cornelius / Kaul, Lukas / Vahrenkamp, Nikolaus / Worgotter, Florentin / Asfour, Tamim / Braun, Jan-Matthias et al. | 2016
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Increasing the efficiency of 6-DoF visual localization using multi-modal sensory dataClark, Ronald / Wang, Sen / Wen, Hongkai / Trigoni, Niki / Markham, Andrew et al. | 2016
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Mechanics-based design of underactuated robotic walking gaits: Initial experimental realizationPowell, Matthew J. / Ma, Wen-Loong / Ambrose, Eric R. / Ames, Aaron D. et al. | 2016
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Planning realistic interactions for bimanual grasping and manipulationSundaram, Ashok M. / Porges, Oliver / Roa, Maximo A. et al. | 2016
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Unified treatment of sparse and dense data in graph-based least squaresWagner, Rene / Frese, Udo / Bauml, Berthold et al. | 2016
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Eye in hand: Towards GPU accelerated online grasp planning based on pointclouds from in-hand sensorHermann, Andreas / Mauch, Felix / Klemm, Sebastian / Roennau, Arne / Dillmann, Ruediger et al. | 2016
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Compliantly underactuated hands based on multiport networksDas, Dipayan / Rake, Nathanael J. / Schultz, Joshua A. et al. | 2016
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Motion generation for pulling a fire hose by a humanoid robotRamirez-Alpizar, Ixchel G. / Naveau, Maximilien / Benazeth, Christophe / Stasse, Olivier / Laumond, Jean-Paul / Harada, Kensuke / Yoshida, Eiichi et al. | 2016
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Action-grounded surface geometry and volumetric shape feature representations for object affordance predictionRidge, Barry / Ude, Ales et al. | 2016
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Differential dynamic programming for graph-structured dynamical systems: Generalization of pouring behavior with different skillsYamaguchi, Akihiko / Atkeson, Christopher G. et al. | 2016
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Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robotsAudren, Herve / Kheddar, Abderrahmane / Gergondet, Pierre et al. | 2016
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Combining finger vision and optical tactile sensing: Reducing and handling errors while cutting vegetablesYamaguchi, Akihiko / Atkeson, Christopher G. et al. | 2016
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Free Gait — An architecture for the versatile control of legged robotsFankhauser, Peter / Dario Bellicoso, C. / Gehring, Christian / Dube, Renaud / Gawel, Abel / Hutter, Marco et al. | 2016
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Motion primitive based random planning for loco-manipulation tasksSettimi, Alessandro / Caporale, Danilo / Kryczka, Przemyslaw / Ferrati, Mirko / Pallottino, Lucia et al. | 2016
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User oriented assessment of vibration suppression by command shaping in a supernumerary wearable robotic armKhodambashi, Roozbeh / Weinberg, Gil / Singhose, William / Rishmawi, Shima / Murali, Varun / Kim, Euisun et al. | 2016
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Physically plausible scene estimation for manipulation in clutterDesingh, Karthik / Jenkins, Odest Chadwicke / Reveret, Lionel / Sui, Zhiqiang et al. | 2016
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Multi-contact motion retargeting from human to humanoid robotDi Fava, Alessandro / Bouyarmane, Karim / Chappellet, Kevin / Ruffaldi, Emanuele / Kheddar, Abderrahmane et al. | 2016
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Medical robot vision using the conformai geometric algebra frameworkGarza-Burgos, M. / Sanchez-O, E. / Bayro-Corrochano, E. et al. | 2016
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Achievement of dynamic tennis swing motion by offline motion planning and online trajectory modification based on optimization with a humanoid robotTerasawa, Ryo / Noda, Shintaro / Kojima, Kunio / Koyama, Ryo / Sugai, Fumihito / Nozawa, Shunichi / Kakiuchi, Yohei / Okada, Kei / Inaba, Masayuki et al. | 2016
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Sequential decision making based on emergent emotion for a humanoid robotKirtay, Murat / Vannucci, Lorenzo / Falotico, Egidio / Oztop, Erhan / Laschi, Cecilia et al. | 2016
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Human motion segmentation using cost weights recovered from inverse optimal controlLin, Jonathan Feng-Shun / Bonnet, Vincent / Panchea, Adina M. / Ramdani, Nacim / Venture, Gentiane / Kulic, Dana et al. | 2016
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Task-oriented planning algorithm for humanoid robots based on a foot repositionable inverse kinematics engineLong, Xianchao / Wonsick, Murphy / Dimitrov, Velin / Padir, Taskin et al. | 2016
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Dynamic behaviors on the NAO robot with closed-loop whole body operational space controlKim, Donghyun / Jorgensen, Steven Jens / Stone, Peter / Sentis, Luis et al. | 2016
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Learning and force adaptation for interactive actionsZhou, You / Do, Martin / Asfour, Tamim et al. | 2016
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Equilibrium-point-based synergies that encode coordinates in task space: A practical method for translating functional synergies from human to musculoskeletal robot armYoshikawa, Fumiaki / Hirai, Hiroaki / Watanabe, Eichi / Nagakawa, Yuma / Kuroiwa, Akira / Grabke, Emerson / Uemura, Mitsunori / Miyazaki, Fumio / Krebs, Hermano Igo et al. | 2016
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Learning to reach by building a representation of peri-personal spaceJuett, Jonathan / Kuipers, Benjamin et al. | 2016
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3D object segmentation for shelf bin picking by humanoid with deep learning and occupancy voxel grid mapWada, Kentaro / Murooka, Masaki / Okada, Kei / Inaba, Masayuki et al. | 2016
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Balanced and falling states for biped systems: Applications to robotic versus human walking stabilityMummolo, Carlotta / Cursi, Francesco / Kim, Joo H. et al. | 2016
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Convexity of stiffness matrix eigenvalues for a position controlled limb of mobile climbing robotsLin, Xuan / Hong, Dennis W. et al. | 2016
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Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: II. Experimental evidence for three equilibrium-point-based synergies during human pedalingWatanabe, Eichi / Oku, Takanori / Hirai, Hiroaki / Yoshikawa, Fumiaki / Nagakawa, Yuma / Kuroiwa, Akira / Grabke, Emerson Paul / Uemura, Mitsunori / Miyazaki, Fumio / Krebs, Hermano Igo et al. | 2016
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Stereo vision of liquid and particle flow for robot pouringYamaguchi, Akihiko / Atkeson, Christopher G. et al. | 2016
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Unsupervised object segmentation through change detection in a long term autonomy scenarioAmbrus, Rares / Folkesson, John / Jensfelt, Patric et al. | 2016
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Towards assistive human-robot micro manipulationBergstrom, Niklas / Huang, Shouren / Yamakawa, Yuji / Senoo, Taku / Ishikawa, Masatoshi et al. | 2016
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Evaluation-controlling mechanism of perception, planning, and execution for a life-sized humanoid robotKakiuchi, Yohei / Ueda, Ryohei / Kumagai, Iori / Nozawa, Shunichi / Okada, Kei / Inaba, Masayuki et al. | 2016
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Toward an adaptive foot for natural walkingPiazza, Cristina / Della Santina, Cosimo / Gasparri, Gian Maria / Catalano, Manuel G. / Grioli, Giorgio / Garabini, Manolo / Bicchi, Antonio et al. | 2016
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Environment compensation using a posteriori statistics for distant speech-based human-robot interactionGomez, Randy / Nakamura, Keisuke et al. | 2016
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Particle traces for detecting divergent robot behaviorZapolsky, Samuel / Drumwright, Evan et al. | 2016
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Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approachLowrey, Kendall / Dao, Jeremy / Todorov, Emanuel et al. | 2016
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Self-calibration of joint offsets for humanoid robots using accelerometer measurementsGuedelha, Nuno / Kuppuswamy, Naveen / Traversaro, Silvio / Nori, Francesco et al. | 2016
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Design of a series elastic resistance mechanism for exercise and rehabilitationGim, Kevin G. / Hong, Dennis W. et al. | 2016
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Introducing ‘theomorphic robots’Trovato, Gabriele / Cuellar, Francisco / Nishimura, Masao et al. | 2016
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Learning task transition from standing-up to walking for a squatted bipedal humanoid robotLuo, Dingsheng / Deng, Yian / Han, Xiaoqiang / Hu, Fan / Wu, Xihong et al. | 2016
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Reconfigurable tasks in belief-space planningRuiken, Dirk / Liu, Tiffany Q. / Takahashi, Takeshi / Grupen, Roderic A. et al. | 2016
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Experience-based learning of symbolic numerical constraintsSolak, Gokhan / Ak, Abdullah Cihan / Sariel, Sanem et al. | 2016
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Crawling gait for four-limbed robot and simulation on uneven terrainMatsuzawa, Takashi / Koizumi, Ayanori / Hashimoto, Kenji / Sun, Xiao / Hamamoto, Shinya / Teramachi, Tomotaka / Kimura, Shunsuke / Sakai, Nobuaki / Takanishi, Atsuo et al. | 2016
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Stabilization method for dynamic gait in bipedal walking robotsCampos-Macias, L. / Carbajal-Espinosa, O. / Loukianov, A. / Bayro-Corrochano, E. et al. | 2016
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Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticitiesLakatos, Dominic / Albu-Schaffer, Alin / Rode, Christian / Loeffl, Florian et al. | 2016
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Passivity of time-delayed whole-body operational space control with series elastic actuationZhao, Ye / Sentis, Luis et al. | 2016
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Workspace analysis for planning human-robot interaction tasksVahrenkamp, Nikolaus / Arnst, Harry / Wachter, Mirko / Schiebener, David / Sotiropoulos, Panagiotis / Kowalik, Michal / Asfour, Tamim et al. | 2016
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Kinematics-based estimation of contact constraints using only proprioceptionOrtenzi, Valerio / Lin, Hsiu-Chin / Azad, Morteza / Stolkin, Rustam / Kuo, Jeffrey A. / Mistry, Michael et al. | 2016
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Walking on partial footholds including line contacts with the humanoid robot atlasWiedebach, Georg / Bertrand, Sylvain / Wu, Tingfan / Fiorio, Luca / McCrory, Stephen / Griffin, Robert / Nori, Francesco / Pratt, Jerry et al. | 2016