7 datasets found

This work addresses the problem of autonomously constructing the 3D model of an unknown object using a humanoid robot.More specifically, we consider a HRP-2 evolving...

The research developed in this PhD thesis deals with the general problem of dynamic control of ''task-oriented'' under-actuated and redundant systems considering more...

We propose a unified planning approach for autonomous humanoid robots that perform dexterous locomotion and manipulation tasks. These tasks are based on contact...

This thesis deals with the development and study of algorithms for planning optimal motions for anthropomorphic systems, which are underactuated and highly redundant...

Systems like humanoid robots are both underactuated and hyper-redundant. They can move only through their interactions with the environment, i.e. contacts, and have...

Yesterday a fiction, now a reality, the humanoid robot, an intelligent machine designed after the human model, embodies ancestral dreams, with the aim that the copy...

In this thesis, a nonlinear model of the vestibular system is proposed, with special reference to humans and other locomoting animals. The vestibular system is...