Search Results - "Colasanto, Luca"

Hybrid Mapping for the Assistance of Teleoperated Grasping Tasks by Colasanto, L., Suarez, R., Rosell, J.

“…Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences…”
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Accelerated Sensorimotor Learning of Compliant Movement Primitives by Petric, Tadej, Gams, Andrej, Colasanto, Luca, Ijspeert, Auke J., Ude, Ales

“…Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we…”
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Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and Cartesian control laws by Faraji, Salman, Colasanto, Luca, Ijspeert, Auke Jan

“…Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the…”
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Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot by Van der Noot, Nicolas, Colasanto, Luca, Barrea, Allan, van den Kieboom, Jesse, Ronsse, Renaud, Ijspeert, Auke J.

“…Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in…”
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A general whole-body compliance framework for humanoid robots by Colasanto, Luca, Tsagarakis, Nikos G., Ijspeert, Auke Jan

“…In this paper we present a novel whole-body compliance framework. It is based on the Multi Spring Model, a set of virtual springs interconnecting the limb…”
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Optimization of a Compact Model for the Compliant Humanoid Robot COMAN Using Reinforcement Learning by Colasanto, Luca, Kormushev, Petar, Tsagarakis, Nikolaos, Caldwell, Darwin G.

“…COMAN is a compliant humanoid robot. The introduction of passive compliance in some of its joints affects the dynamics of the whole system. Unlike traditional…”
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Internal model control for improving the gait tracking of a compliant humanoid robot by Colasanto, L., Tsagarakis, N. G., Zhibin Li, Caldwell, D. G.

“…This paper reports on the modelling and trajectory generation of an intrinsically compliant humanoid robot. To achieve adequate gait tracking performance in a…”
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The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans by Kormushev, P., Ugurlu, B., Colasanto, L., Tsagarakis, N. G., Caldwell, D. G.

“…An automated approach is proposed which can analyze ground reaction force data from bipedal walking robots and humans. The input of the automated analysis is…”
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Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control by Colasanto, Luca, Van der Noot, Nicolas, Ijspeert, Auke J.

“…The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These…”
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Summary of Team IHMC's virtual robotics challenge entry by Koolen, Twan, Smith, Jesper, Thomas, Gray, Bertrand, Sylvain, Carff, John, Mertins, Nathan, Stephen, Douglas, Abeles, Peter, Englsberger, Johannes, McCrory, Stephen, van Egmond, Jeff, Griffioen, Maarten, Floyd, Marshall, Kobus, Samantha, Manor, Nolan, Alsheikh, Sami, Duran, Daniel, Bunch, Larry, Morphis, Eric, Colasanto, Luca, Khai-Long Ho Hoang, Layton, Brooke, Neuhaus, Peter, Johnson, Matthew, Pratt, Jerry

“…This paper presents a high level overview of the work done by Team IHMC (Florida Institute for Human and Machine Cognition) to win the DARPA Virtual Robotics…”
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A compact model for the compliant humanoid robot COMAN by Colasanto, L., Tsagarakis, N. G., Caldwell, D. G.

“…This work reports on the modelling of a compliant humanoid robot. The introduction of intrinsic compliance in some of the joints of the COmpliant huMANoid…”
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Bio-inspired learning and database expansion of Compliant Movement Primitives by Petric, Tadej, Colasanto, Luca, Gams, Andrej, Ude, Ales, Ijspeert, Auke J.

“…The paper addresses the problem of learning torque primitives - the torques associated to a kinematic trajectory, and required in order to accurately track…”
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Stabilization for the compliant humanoid robot COMAN exploiting intrinsic and controlled compliance by Zhibin Li, Vanderborght, B., Tsagarakis, N. G., Colasanto, L., Caldwell, D. G.

“…The work presents the standing stabilization of a compliant humanoid robot against external force disturbances and variations of the terrain inclination. The…”
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Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking by Colasanto, Luca, Perrin, Nicolas, Tsagarakis, Nikos G., Caldwell, Darwin G.

“…This paper focuses on how to generate dynamic transitions in order to make our robot COMAN (COmpliant huMANoid) dynamically traverse inclined terrains. The…”
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