Dynamic Legged Systems lab

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Dynamic Legged Systems lab

Dynamic Legged Systems lab

@iitDLSLab

Genoa, Italy Katılım Aralık 2016
17 Takip Edilen594 Takipçiler
Dynamic Legged Systems lab
Dynamic Legged Systems lab@iitDLSLab·
Our visiting PhD student, Hilton Marques Santana, is presenting this work today Saturday 23/11 at the IEEE RAS HUMANOIDS Conference during Interactive Session 1 (Foyer 850) from 10:30 to 11:30. Read more about the research: lnkd.in/dKKnKRfQ
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Dynamic Legged Systems lab
Dynamic Legged Systems lab@iitDLSLab·
Our latest research introduces a robust Invariant Extended Kalman Filter that uses proprioceptive sensors and robust cost functions to minimize the impact of slippage and outlier measurements. 🚀 Results: Reduced pose drift by up to 40% over 450m compared to current methods!
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Zhongyu Li
Zhongyu Li@ZhongyuLi4·
Exploiting morphological symmetries can enhance model-free RL sample efficiency, policy optimality, and sim2real transfer in legged locomotion and manipulation. Our #IROS2024 paper exploits these symmetries for RL methods. Code is open-sourced: 🌐 bit.ly/SymLoco🧵
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Dynamic Legged Systems lab
Dynamic Legged Systems lab@iitDLSLab·
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At #IROS24, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
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Dynamic Legged Systems lab
Model Predictive Control (MPC) for legged robots is limited by model complexity. In our #IROS24 paper, we show how partitioning the robot into smaller subsystems, each controlled in parallel by a faster dedicated MPC, can achieve complex whole-body motions more efficiently.
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Dynamic Legged Systems lab
Sampling-based methods are attractive due to the incredible simplicity of their implementation. At #IROS24, we present our work where we use GPU acceleration in #JAX to jointly optimize for gait parameters and ground reaction forces using more than 10K rollouts in less than 2ms
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Dynamic Legged Systems lab
VERO is a unique robot dog that integrates locomotion and cleaning abilities, allowing it to vacuum autonomously while walking. The project highlights the versatility of legged robots in multi-functional tasks. Stay tuned for more updates, and let us know what you think! 💡
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Interesting Engineering
Interesting Engineering@IntEngineering·
VERO, a legged robot by Dynamic Legged Systems Lab, cleans hard-to-reach areas, like beaches and parks, using foot-mounted vacuum nozzles to efficiently remove cigarette butts from challenging terrains. YouTube / @DynamicLeggedSystemslab
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Dynamic Legged Systems lab
Dynamic Legged Systems lab@iitDLSLab·
Thanks also to Giacomo Mazzaglia, Matteo Villa, Franco Seguezzo, Gabriel Fischer Abati, and João Carlos Virgolino Soares for their technical support.
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Dynamic Legged Systems lab
Dynamic Legged Systems lab@iitDLSLab·
For more technical details, read our latest publication in the Journal of Field Robotics (lnkd.in/dw-g72Pe). Thanks to the authors Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini. Further information: lnkd.in/dm8YptwG
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Dynamic Legged Systems lab
Dynamic Legged Systems lab@iitDLSLab·
We demonstrate how to leverage harmonic analysis and Koopman operator theory to learn linear models for the dynamics of symmetric robotic systems.
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Dynamic Legged Systems lab
Dynamic Legged Systems lab@iitDLSLab·
"The DLS lab presents at the 21st Int. Conf. on Ubiquitous Robots (UR2024) with 2 papers: Paper 1: Abati et al. “Panoptic-SLAM: Visual SLAM in Dynamic Environments”. Paper 2: Bratta et al. “ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion”.
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