1 code implementation • 13 Sep 2023 • Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
In this work, we consider the complex control problem of making a monopod reach a target with a jump.
1 code implementation • 16 Nov 2020 • Abdelrahman Abdallah, Michele Focchi, Romeo Orsolino, Claudio Semini
In this work we propose a general formulation of the improved feasible region that guarantees dynamic balance alongside the satisfaction of both joint-torque and kinematic limits in an efficient manner.
no code implementations • 9 Apr 2019 • Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, Jose Cappelletto, Juan C. Grieco, Gerardo Fernandez-Lopez, Claudio Semini
In this paper, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions and motion, in a computationally efficient fashion.