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2017


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Momentum-Centered Control of Contact Interactions

Righetti, L., Herzog, A.

In Geometric and Numerical Foundations of Movements, 117, pages: 339-359, Springer Tracts in Advanced Robotics, Springer, Cham, 2017 (incollection)

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link (url) [BibTex]

2017


link (url) [BibTex]


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Pattern Generation for Walking on Slippery Terrains

Khadiv, M., Moosavian, S. A. A., Herzog, A., Righetti, L.

In 2017 5th International Conference on Robotics and Mechatronics (ICROM), Iran, August 2017 (inproceedings)

Abstract
In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact. Exploiting this for- mulation inside MPC, we show that safe walking on various flat terrains can be achieved by compromising three main attributes, i. e. walking velocity tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient of Friction (RCoF) regulation. Simulation results show that increasing the walking velocity increases the possibility of slippage, while reducing the slippage possibility conflicts with reducing the tip-over possibility of the contact and vice versa.

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link (url) [BibTex]

link (url) [BibTex]

2003


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Evolution of Fault-tolerant Self-replicating Structures

Righetti, L., Shokur, S., Capcarre, M.

In Advances in Artificial Life, pages: 278-288, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2003 (inproceedings)

Abstract
Designed and evolved self-replicating structures in cellular automata have been extensively studied in the past as models of Artificial Life. However, CAs, unlike their biological counterpart, are very brittle: any faulty cell usually leads to the complete destruction of any emerging structures, let alone self-replicating structures. A way to design fault-tolerant structures based on error-correcting-code has been presented recently [1], but it required a cumbersome work to be put into practice. In this paper, we get back to the original inspiration for these works, nature, and propose a way to evolve self-replicating structures, faults here being only an idiosyncracy of the environment.

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link (url) DOI [BibTex]

2003


link (url) DOI [BibTex]