no code implementations • 29 Aug 2024 • Michael Adlerstein, Angelo Bratta, João Carlos Virgolino Soares, Giovanni Dessy, Miguel Fernandes, Matteo Gatti, Claudio Semini
Grapevine winter pruning is a labor-intensive and repetitive process that significantly influences the quality and quantity of the grape harvest and produced wine of the following season.
3 code implementations • 23 Feb 2024 • Daniel Ordoñez-Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martin, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems.
1 code implementation • 12 Dec 2023 • Daniel Ordoñez-Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces.
no code implementations • 10 Jul 2023 • Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol
We demonstrate the performance and robustness of the proposed approach with various experiments on our 140 kg HyQReal quadruped robot equipped with a 7-DoF manipulator arm.
no code implementations • 8 Jun 2021 • Miguel Fernandes, Antonello Scaldaferri, Giuseppe Fiameni, Tao Teng, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin Caldwell, Fei Chen
Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly.
no code implementations • 22 May 2021 • Tao Teng, Miguel Fernandes, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin Caldwell, Fei Chen
In this paper, we explore a whole-body motion controller of a robot which is composed of a 2-DoFs non-holonomic wheeled mobile base with a 7-DoFs manipulator (non-holonomic wheeled mobile manipulator, NWMM) This robotic platform is designed to efficiently undertake complex grapevine pruning tasks.
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.
no code implementations • 7 Apr 2019 • Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
We use a lattice representation together with a set of defined body movement primitives for computing a body action plan.
no code implementations • 12 Sep 2017 • Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli
First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model.
Robotics