Animal Motions on Legged Robots Using Nonlinear Model Predictive Control - Presentation
Presentation for the IROS 2022 paper
“Animal Motions on Legged Robots Using Nonlinear Model Predictive Control“ by Dongho Kang, Flavio De Vincenti, Naomi C. Adam, and Stelian Coros.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022):
Abstract:
This work presents a motion capture-driven locomotion controller for quadrupedal robots that replicates the non-periodic footsteps and subtle body movement of animal motions. We adopt a nonlinear model predictive control (NMPC) formulation that generates optimal base trajectories and stepping locations. By optimizing both footholds and base trajectories, our controller effectively tracks retargeted animal motions with natural body movements and highly irregular strides. We demonstrate our approach with prerecorded animal motion capture data. In simulation and hardware experiments, our motion controller enables quadrupedal robots to robustly reproduce fundamental characteristics of a target
2 views
521
141
4 months ago 00:05:19 1
Stop Motion Plastilina 2024 🎬 Los Duros de Bronson 🎬 Cortometraje de Animación 🎬 Short Fim Animatio
4 months ago 00:07:18 1
The Brave Locomotive
4 months ago 00:02:35 1
Sister of Battle - Warhammer 40k (Unofficial)
4 months ago 02:48:35 1
Who is Вы, ВЕЛИКИЙ ДРАКОН? REDUX - версия фильма о журнале!
4 months ago 00:02:03 1
“It’s Time To Go Back” Coraline 15 Official Trailer — Coraline | LAIKA Studios
4 months ago 00:04:08 1
Песня звездочёта (из к/ф Красная Шапочка). Здравствуй! Здравствуй! Сияешь? Сияю!..
4 months ago 00:00:24 1
Simulon Adam Robot Render MOCAP Test | Realistic Render for Environment & Character #simulon #shorts
4 months ago 00:01:08 1
The Thing (1982) - John Carpenter Deleted Stop Motion
4 months ago 00:11:41 1
3D VFX Реклама в Blender - Как сделать Трекинг Видео в Блендер | Подробный Урок для Начинающих
4 months ago 00:06:48 1
Dummy : no way out (2015)
4 months ago 00:07:12 1
HoYoFair | Realm of Faith: Live Actually
4 months ago 00:06:18 1
Nico de Andrea Feat. Darla Jade - Lost (Kasango Remix)
4 months ago 00:07:49 1
The Dead Need No Chairs, act V - Fight in the cellar — Stop motion clay cartoon
4 months ago 00:00:31 2
Xianyun Teaching Her Girls How it’s DONE
4 months ago 00:03:03 1
Sergey Lazarev - Scream - Eurovision 2019 ( Russia )