Trajectory Optimization for Legged Robots With Slipping Motions (English)
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- New search for: Ranftl, Rene
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- New search for: Koltun, Vladlen
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- https://orcid.org/0000-0003-0858-0970
- New search for: Hutter, Marco
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- New search for: Carius, Jan
- Further information on Carius, Jan:
- https://orcid.org/0000-0001-7158-9404
- New search for: Ranftl, Rene
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- https://orcid.org/0000-0003-4158-2759
- New search for: Koltun, Vladlen
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- New search for: Hutter, Marco
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In:
IEEE Robotics and Automation Letters
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4
, 3
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3013-3020
;
2019
- Article (Journal) / Electronic Resource
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Title:Trajectory Optimization for Legged Robots With Slipping Motions
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Contributors:Carius, Jan ( author ) / Ranftl, Rene ( author ) / Koltun, Vladlen ( author ) / Hutter, Marco ( author )
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Published in:IEEE Robotics and Automation Letters ; 4, 3 ; 3013-3020
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Publisher:
- New search for: IEEE
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Publication date:2019-07-01
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Size:1534673 byte
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ISSN:
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DOI:
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Type of media:Article (Journal)
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Type of material:Electronic Resource
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Language:English
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Source:
Table of contents – Volume 4, Issue 3
The tables of contents are generated automatically and are based on the data records of the individual contributions available in the index of the TIB portal. The display of the Tables of Contents may therefore be incomplete.
- 2393
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Task-Based Control and Design of a BLDC Actuator for RoboticsDe, Avik / Stewart-Height, Abriana / Koditschek, Daniel E. et al. | 2019
- 2401
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Time-Dependent Cloud Workload Forecasting via Multi-Task LearningBi, Jing / Yuan, Haitao / Zhou, MengChu / Liu, Qing et al. | 2019
- 2407
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Robot Motion Planning in Learned Latent SpacesIchter, Brian / Pavone, Marco et al. | 2019
- 2415
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Soft Electrically Actuated Quadruped (SEAQ)—Integrating a Flex Circuit Board and Elastomeric Limbs for Versatile MobilityHuang, Xiaonan / Kumar, Kitty / Khalid Jawed, Mohammad / Ye, Zisheng / Majidi, Carmel et al. | 2019
- 2423
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Parallel Algorithm for Precise Navigation Using Black-Box Forward Model and Motion PrimitivesSinyavskiy, Oleg Y. / Passot, Jean-Baptiste / Ibarz Gabardos, Borja et al. | 2019
- 2431
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Sensor Transfer: Learning Optimal Sensor Effect Image Augmentation for Sim-to-Real Domain AdaptationCarlson, Alexandra / Skinner, Katherine A. / Vasudevan, Ram / Johnson-Roberson, Matthew et al. | 2019
- 2439
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Fast Heuristics for the 3-D Multi-Goal Path Planning Based on the Generalized Traveling Salesman Problem With NeighborhoodsFaigl, Jan / Vana, Petr / Deckerova, Jindeiska et al. | 2019
- 2447
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Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature FeedbackTahara, Kenji / Hayashi, Ryo / Masuya, Ken / Takagi, Kentaro / Irisawa, Toshihira / Yamauchi, Takuma / Tanaka, Eitaro et al. | 2019
- 2455
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Assessing the Performance of Variable Stiffness Continuum Structures of Large DiameterClark, Angus B. / Rojas, Nicolas et al. | 2019
- 2463
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Transcend Anthropomorphic Robotic Grasping With Modular Antagonistic Mechanisms and Adhesive Soft ModulationsLi, Changsheng / Gu, Xiaoyi / Xiao, Xiao / Zhu, Guoniu / Prituja, A. V. / Ren, Hongliang et al. | 2019
- 2471
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On Soft Fingertips for In-Hand Manipulation: Modeling and Implications for Robot Hand DesignLu, Qiujie / Rojas, Nicolas et al. | 2019
- 2479
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Model-Free Soft-Structure Reconstruction for Proprioception Using Tactile ArraysScimeca, Luca / Hughes, Josie / Maiolino, Perla / Iida, Fumiya et al. | 2019
- 2485
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Robotic Skins That Learn to Control Passive StructuresCase, Jennifer C. / Yuen, Michelle C. / Jacobs, Jane / Kramer-Bottiglio, Rebecca et al. | 2019
- 2493
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Bi-Directional Value Learning for Risk-Aware Planning Under UncertaintyKim, Sung-Kyun / Thakker, Rohan / Agha-Mohammadi, Ali-Akbar et al. | 2019
- 2501
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Semi-Supervised Gait Generation With Two Microfluidic Soft SensorsKim, Dooyoung / Kim, Min / Kwon, Junghan / Park, Yong-Lae / Jo, Sungho et al. | 2019
- 2508
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Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based ApproachSantina, Cosimo Della / Pallottino, Lucia / Rus, Daniela / Bicchi, Antonio et al. | 2019
- 2516
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A Method for Reducing the Complexity of Model Predictive Control in Robotics ApplicationsMuehlebach, Michael / D'Andrea, Raffaello et al. | 2019
- 2524
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Soft Haptic Device to Render the Sensation of Flying Like a DroneRognon, Carine / Koehler, Margaret / Duriez, Christian / Floreano, Dario / Okamura, Allison M. et al. | 2019
- 2532
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Fabrication of “18 Weave” Muscles and Their Application to Soft Power Support Suit for Upper Limbs Using Thin McKibben MuscleAbe, Tomoki / Koizumi, Shoichiro / Nabae, Hiroyuki / Endo, Gen / Suzumori, Koichi / Sato, Nao / Adachi, Michiko / Takamizawa, Fumi et al. | 2019
- 2539
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Soft, Multi-DoF, Variable Stiffness Mechanism Using Layer Jamming for Wearable RobotsChoi, Won Ho / Kim, Sunghwan / Lee, Dongun / Shin, Dongjun et al. | 2019
- 2547
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A Soft Wearable Robotic Ankle-Foot-Orthosis for Post-Stroke PatientsKwon, Junghan / Park, Ji-Hong / Ku, Subyeong / Jeong, YeongHyeon / Paik, Nam-Jong / Park, Yong-Lae et al. | 2019
- 2553
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Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging TerrainFahmi, Shamel / Mastalli, Carlos / Focchi, Michele / Semini, Claudio et al. | 2019
- 2561
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Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature FeedbackHayashi, Ryo / Masuya, Ken / Takagi, Kentaro / Irisawa, Toshihira / Fujino, Rui / Yamauchi, Takuma / Tanaka, Eitaro / Tahara, Kenji et al. | 2019
- 2568
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Development and Experimental Validation of Aerial Vehicle With Passive Rotating Shell on Each RotorSalaan, Carl John / Tadakuma, Kenjiro / Okada, Yoshito / Sakai, Yusuke / Ohno, Kazunori / Tadokoro, Satoshi et al. | 2019
- 2576
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RTFNet: RGB-Thermal Fusion Network for Semantic Segmentation of Urban ScenesSun, Yuxiang / Zuo, Weixun / Liu, Ming et al. | 2019
- 2584
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Energy-Efficient Coverage Path Planning for General Terrain SurfacesWu, Chenming / Dai, Chengkai / Gong, Xiaoxi / Liu, Yong-Jin / Wang, Jun / Gu, Xianfeng David / Wang, Charlie C. L. et al. | 2019
- 2592
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Straight-Fiber-Type Artificial Muscle Deformation Under PressurizationKojima, Akihiro / Okui, Manabu / Hisamichi, Itsuki / Tsuji, Tomoaki / Nakamura, Taro et al. | 2019
- 2599
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Autonomous Parallelization of Resource-Aware Robotic Task NodesBrunner, Sebastian Georg / Domel, Andreas / Lehner, Peter / Beetz, Michael / Stulp, Freek et al. | 2019
- 2607
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Autonomous Flexible Endoscope for Minimally Invasive Surgery With Enhanced SafetyMa, Xin / Song, Chengzhi / Chiu, Philip Waiyan / Li, Zheng et al. | 2019
- 2614
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Pedestrian Motion Model Using Non-Parametric Trajectory Clustering and Discrete Transition PointsHan, Yutao / Tse, Rina / Campbell, Mark et al. | 2019
- 2622
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Specifying Dual-Arm Robot Planning Problems Through Natural Language and DemonstrationBehrens, Jan Kristof / Stepanova, Karla / Lange, Ralph / Skoviera, Radoslav et al. | 2019
- 2630
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Soft Robot Actuation Strategies for Locomotion in Granular SubstratesOrtiz, Daniel / Gravish, Nick / Tolley, Michael T. et al. | 2019
- 2637
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UVDAR System for Visual Relative Localization With Application to Leader–Follower Formations of Multirotor UAVsWalter, Viktor / Staub, Nicolas / Franchi, Antonio / Saska, Martin et al. | 2019
- 2645
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Design and Modularization of Multi-DoF Soft Robotic ActuatorsZhang, Boyu / Hu, Chengquan / Yang, Penghui / Liao, Zhuxiu / Liao, Hongen et al. | 2019
- 2653
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Maximizing the Size of Self-Motion Manifolds to Improve Robot Fault ToleranceAlmarkhi, Ahmad A. / Maciejewski, Anthony A. et al. | 2019
- 2661
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Shape-Locking Mechanism of Flexible Joint Using Mechanical Latch With Electromagnetic ForceChung, Deok Gyoon / Kim, Joonhwan / Baek, DongHoon / Kim, Joonyeong / Kwon, Dong-Soo et al. | 2019
- 2669
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Dual-Arm Robotic Needle Insertion With Active Tissue Deformation for Autonomous SuturingZhong, Fangxun / Wang, Yaqing / Wang, Zerui / Liu, Yun-Hui et al. | 2019
- 2677
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Idiothetic Verticality Estimation Through Head Stabilization StrategyFarkhatdinov, Ildar / Michalska, Hannah / Berthoz, Alain / Hayward, Vincent et al. | 2019
- 2683
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Attitude and Cruise Control of a VTOL Tiltwing UAVRohr, David / Stastny, Thomas / Verling, Sebastian / Siegwart, Roland et al. | 2019
- 2691
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Vision-Based Navigation of Omnidirectional Mobile RobotsFerro, Marco / Paolillo, Antonio / Cherubini, Andrea / Vendittelli, Marilena et al. | 2019
- 2699
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Subspace-Based Direct Visual ServoingMarchand, Eric et al. | 2019
- 2707
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A Joint Ordering, Pricing, and Freshness-Keeping Policy for Perishable Inventory Systems With Random Demand Over Infinite HorizonZhang, Yajun / Wang, Zheng et al. | 2019
- 2714
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Deep Learning Based Robotic Tool Detection and Articulation Estimation With Spatio-Temporal LayersColleoni, Emanuele / Moccia, Sara / Du, Xiaofei / De Momi, Elena / Stoyanov, Danail et al. | 2019
- 2722
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Computational Resources of Miniature Robots: Classification and ImplicationsTrenkwalder, Stefan M. et al. | 2019
- 2730
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Automatic Virtual Metrology for Carbon Fiber ManufacturingHsieh, Yu-Ming / Lin, Chin-Yi / Yang, Yu-Ru / Hung, Min-Hsiung / Cheng, Fan-Tien et al. | 2019
- 2738
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Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM OptimizationAloise, Irvin / Corte, Bartolomeo Della / Nardi, Federico / Grisetti, Giorgio et al. | 2019
- 2746
-
Semi-Autonomous Robot Teleoperation With Obstacle Avoidance via Model Predictive ControlRubagotti, Matteo / Taunyazov, Tasbolat / Omarali, Bukeikhan / Shintemirov, Almas et al. | 2019
- 2754
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Framework for Flexible, Adaptive Support of Test Management by Means of Software AgentsJordan, Claudius V. / Maurer, Franziska / Lowenberg, Sven / Provost, Julien et al. | 2019
- 2762
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Model Predictive Control of GTAW Weld Pool PenetrationChen, Jinsong / Chen, Jian / Feng, Zhili / Zhang, Yuming et al. | 2019
- 2769
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A Generative Neural Network for Learning Coordinated Reach-Grasp MotionsChong, Eunsuk / Park, Jinhyuk / Kim, Hyungmin / Park, Frank C. et al. | 2019
- 2777
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Visual-Inertial Guidance With a Plenoptic Camera for Autonomous Underwater VehiclesEisele, Jeremiah / Song, Zhuoyuan / Nelson, Kevin / Mohseni, Kamran et al. | 2019
- 2785
-
VIMO: Simultaneous Visual Inertial Model-Based Odometry and Force EstimationNisar, Barza / Foehn, Philipp / Falanga, Davide / Scaramuzza, Davide et al. | 2019
- 2793
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Sensor Installation and Retrieval Operations Using an Unmanned Aerial ManipulatorHamaza, Salua / Georgilas, Ioannis / Fernandez, Manuel / Sanchez, Pedro / Richardson, Thomas / Heredia, Guillermo / Ollero, Anibal et al. | 2019
- 2801
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Behavior of the Fusion Hole in Tungsten Inert Gas Thin-Plate WeldingGuo, Yongjian / Gao, Jinqiang / Cao, Yu / Li, Chuanzong et al. | 2019
- 2807
-
Time Series Prediction Algorithm for Intelligent Predictive MaintenanceLin, Chin-Yi / Hsieh, Yu-Ming / Cheng, Fan-Tien / Huang, Hsien-Cheng / Adnan, Muhammad et al. | 2019
- 2815
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Learning to Plan Hierarchically From CurriculumMorere, Philippe / Ott, Lionel / Ramos, Fabio et al. | 2019
- 2839
-
High-Speed On-Chip Mixing by Microvortex Generated by Controlling Local Jet Flow Using Dual Membrane PumpsKasai, Yusuke / Sakuma, Shinya / Arai, Fumihito et al. | 2019
- 2847
-
Experimental Analysis of the Influence of Olfactory Property on Chemical Plume Tracing PerformanceShigaki, Shunsuke / Okajima, Kei / Sanada, Kazushi / Kurabayashi, Daisuke et al. | 2019
- 2854
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Dynamic Resource Task Negotiation to Enable Product Agent Exploration in Multi-Agent Manufacturing SystemsKovalenko, Ilya / Ryashentseva, Daria / Vogel-Heuser, Birgit / Tilbury, Dawn / Barton, Kira et al. | 2019
- 2862
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Automatic Multi-Sensor Extrinsic Calibration For Mobile RobotsZuniga-Noel, David / Ruiz-Sarmiento, Jose-Raul / Gomez-Ojeda, Ruben / Gonzalez-Jimenez, Javier et al. | 2019
- 2870
-
A Virtual Reality Interface for an Autonomous Spray Painting UAVVempati, Anurag Sai / Khurana, Harshit / Kabelka, Vojtech / Flueckiger, Simon / Siegwart, Roland / Beardsley, Paul et al. | 2019
- 2878
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Recurrent Convolutional Fusion for RGB-D Object RecognitionLoghmani, Mohammad Reza / Planamente, Mirco / Caputo, Barbara / Vincze, Markus et al. | 2019
- 2886
-
An Intelligent Metrology Architecture With AVM for Metal Additive ManufacturingYang, Haw-Ching / Adnan, Muhammad / Huang, Chih-Hung / Cheng, Fan-Tien / Lo, Yu-Lung / Hsu, Chih-Hua et al. | 2019
- 2894
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SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing RobotZufferey, Raphael / Ancel, Alejandro Ortega / Raposo, Celia / Armanini, Sophie Franziska / Farinha, Andre / Siddall, Robert / Berasaluce, Ion / Zhu, Haijun / Kovac, Mirko et al. | 2019
- 2902
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LDLS: 3-D Object Segmentation Through Label Diffusion From 2-D ImagesWang, Brian H. / Chao, Wei-Lun / Wang, Yan / Hariharan, Bharath / Weinberger, Kilian Q. / Campbell, Mark et al. | 2019
- 2910
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A Formal Safety Net for Waypoint-Following in Ground RobotsBohrer, Brandon / Tan, Yong Kiam / Mitsch, Stefan / Sogokon, Andrew / Platzer, Andre et al. | 2019
- 2918
-
Sparse Depth Enhanced Direct Thermal-Infrared SLAM Beyond the Visible SpectrumShin, Young-Sik / Kim, Ayoung et al. | 2019
- 2926
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Interaction Templates for Multi-Robot SystemsMotes, James / Sandstrom, Read / Adams, Will / Ogunyale, Tobi / Thomas, Shawna / Amato, Nancy M. et al. | 2019
- 2934
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An Extensive Approach to Features Detection and Description for 2-D Range Data Using Active B-splinesUsman, Muhammad / Khan, Abdul Manan / Ali, Ahmad / Yaqub, Sheraz / Zuhaib, Khalil Muhammad / Lee, Ji Yeong / Han, Chang-Soo et al. | 2019
- 2942
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Characterizing Nanoparticle Swarms With Tuneable Concentrations for Enhanced Imaging ContrastYu, Jiangfan / Wang, Qianqian / Li, Mengzhi / Liu, Chao / Wang, Lidai / Xu, Tiantian / Zhang, Li et al. | 2019
- 2950
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High-Speed Sliding Locomotion Generation on Slippery Surface of an Indirectly Controlled Robot With Viscoelastic BodyLi, Longchuan / Asano, Fumihiko / Tokuda, Isao et al. | 2019
- 2958
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Modeling of Human Welders’ Operations in Virtual Reality Human–Robot InteractionWang, Qiyue / Jiao, Wenhua / Yu, Rui / Johnson, Michael T. / Zhang, YuMing et al. | 2019
- 2965
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Long-Time Self-Body Image Acquisition and Its Application to the Control of Musculoskeletal StructuresKawaharazuka, Kento / Tsuzuki, Kei / Makino, Shogo / Onitsuka, Moritaka / Asano, Yuki / Okada, Kei / Kawasaki, Koji / Inaba, Masayuki et al. | 2019
- 2973
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Continuous Mechanical Indexing of Single-Cell Spheroids Using a Robot-Integrated Microfluidic ChipSakuma, Shinya / Nakahara, Ko / Arai, Fumihito et al. | 2019
- 2981
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Designing a Mechanical Tool for Robots With Two-Finger Parallel GrippersHu, Zhengtao / Wan, Weiwei / Harada, Kensuke et al. | 2019
- 2989
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Efficient Autonomous Robotic Exploration With Semantic Road Map in Indoor EnvironmentsWang, Chaoqun / Zhu, Delong / Li, Teng / Meng, Max Q.-H. / de Silva, Clarence W. et al. | 2019
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Safe Trajectory Generation for Complex Urban Environments Using Spatio-Temporal Semantic CorridorDing, Wenchao / Zhang, Lu / Chen, Jing / Shen, Shaojie et al. | 2019
- 3005
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Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments With ObstaclesPenicka, Robert / Faigl, Jan / Saska, Martin et al. | 2019
- 3013
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Trajectory Optimization for Legged Robots With Slipping MotionsCarius, Jan / Ranftl, Rene / Koltun, Vladlen / Hutter, Marco et al. | 2019
- 3021
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Swarm Signal Temporal Logic Inference for Swarm Behavior AnalysisYan, Ruixuan / Xu, Zhe / Julius, Agung et al. | 2019
- 3029
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A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive SurgeryGruijthuijsen, Caspar / Borghesan, Gianni / Reynaerts, Dominiek / Poorten, Emmanuel Vander et al. | 2019
- 3037
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Volumetric Instance-Aware Semantic Mapping and 3D Object DiscoveryGrinvald, Margarita / Furrer, Fadri / Novkovic, Tonci / Chung, Jen Jen / Cadena, Cesar / Siegwart, Roland / Nieto, Juan et al. | 2019
- 3045
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Long-Reach Aerial Manipulation Employing Wire-Suspended Hand With Swing-Suppression DeviceMiyazaki, Ryo / Jiang, Rui / Paul, Hannibal / Huang, Yanzhao / Shimonomura, Kazuhiro et al. | 2019
- 3053
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Identification of Time-Varying and Time-Scalable Synergies From Continuous Electromyographic PatternsRamos, Felipe Moreira / d'Avella, Andrea / Hayashibe, Mitsuhiro et al. | 2019
- 3059
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DeepIG: Multi-Robot Information Gathering With Deep Reinforcement LearningViseras, Alberto / Garcia, Ricardo et al. | 2019
- 3067
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Dynamics and Control of a Collaborative and Separating Descent of Samara Autorotating WingsWin, Shane Kyi Hla / Win, Luke Soe Thura / Sufiyan, Danial / Soh, Gim Song / Foong, Shaohui et al. | 2019
- 3075
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Learning to Navigate Endoscopic Capsule RobotsTuran, Mehmet / Almalioglu, Yasin / Gilbert, Hunter B. / Mahmood, Faisal / Durr, Nicholas J. / Araujo, Helder / Sari, Alp Eren / Ajay, Anurag / Sitti, Metin et al. | 2019
- 3083
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Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and LandingKhazoom, Charles / Veronneau, Catherine / Bigue, Jean-Philippe Lucking / Grenier, Jordane / Girard, Alexandre / Plante, Jean-Sebastien et al. | 2019
- 3091
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3D Reconstruction of Weld Pool Surface in Pulsed GMAW by Passive Biprism Stereo VisionLiang, Zhimin / Chang, Hexi / Wang, Qiyue / Wang, Dianlong / Zhang, YuMing et al. | 2019
- 3098
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Visual Servo Control of a Novel Magnetic Actuated Endoscope for Uniportal Video-Assisted Thoracic SurgeryCheng, Truman / Li, Weibing / Ng, Calvin Sze Hang / Chiu, Philip Wai Yan / Li, Zheng et al. | 2019
- 3106
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Shared Autonomy of a Flexible Manipulator in Constrained Endoluminal Surgical TasksMa, Xin / Wang, Peng / Ye, Minxin / Chiu, Philip Wai Yan / Li, Zheng et al. | 2019
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Table of Contents| 2019
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IEEE Robotics and Automation Letters publication information| 2019
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IEEE Robotics and Automation Letters Society Information| 2019
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IEEE Robotics and Automation Letters information for authors| 2019