@inproceedings{vivian23clawar,

title = {Impedance Control Analysis for Legged Locomotion in Oscillating Ground},

author = {Vivian S. Medeiros and Felix M. Escalante and Marcelo Becker and Thiago Boaventura},

editor = {Ebrahim Samer El Youssef and Mohammad Osman Tokhi and Manuel F. Silva and Leonardo Mejia Rincon},

doi = {10.1007/978-3-031-47272-5_17},

isbn = {978-3-031-47272-5},

year  = {2024},

date = {2024-01-01},

booktitle = {Synergetic Cooperation between Robots and Humans},

pages = {197–208},

publisher = {Springer Nature Switzerland},

address = {Cham},

abstract = {The versatility of legged robots makes them essential for many inspection applications. However, these robots face significant stability challenges when maneuvering through difficult terrain characterized by rough surfaces or oscillations that challenge their stability. These challenges can arise due to different ground conditions, especially in oscillating environments such as offshore platforms, natural disaster areas, or seismically active areas. In this paper, we propose to analyze the impacts of the joint impedance control for legged robot locomotion on vibrating ground. Consequently, adjustments of the joints' impedance controller gains are proposed on the basis of an estimation of the ground frequency, obtained from kinematic measurements of the robot's legs. The simulation results demonstrate that an adaptation of impedance control gains in joint space can potentially improve the stability of the robot during full contact phase and while performing a walking trot over an oscillating terrain.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{duarte23clawar,

title = {Planar Motion Control of a Quadruped Robot},

author = {Gabriel Duarte Gonçalves Pedro and Thiago Boaventura and Pedro Américo Almeida Magalhães Júnior and Gustavo Medeiros Freitas},

editor = {Ebrahim Samer El Youssef and Mohammad Osman Tokhi and Manuel F. Silva and Leonardo Mejia Rincon},

doi = {10.1007/978-3-031-47272-5_15},

isbn = {978-3-031-47272-5},

year  = {2024},

date = {2024-01-01},

booktitle = {Synergetic Cooperation between Robots and Humans},

pages = {171–184},

publisher = {Springer Nature Switzerland},

address = {Cham},

abstract = {In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. However, to move a robot in different environments, it is necessary to properly plan the steps and control its legs. This article considers a quadruped robot with legs modeled using the Euler–Lagrange equations. The robot's control strategy uses impedance control for each leg with reference trajectories generated by sixth-degree Bézier curves, which are constructed based on leg velocities through a planar kinematic model. Then, a body control scheme commands the robot to follow a predefined trajectory. The proposed control strategy is implemented in Matlab and simulated in CoopeliaSim using the Vortex physics engine. The simulations successfully illustrate the control strategy that commands the robot to follow a reference trajectory with static walking and trotting gait patterns.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{bermudez24lars,

title = {Heat It Up: Using Robo-gym to Warm-up Deep Reinforcement Learning Algorithms},

author = {Gabriel Bermudez and Matheus A. Do Carmo Alves and Gabriel D. G. Pedro and Thiago Boaventura},

doi = {10.1109/LARS64411.2024.10786424},

year  = {2024},

date = {2024-01-01},

booktitle = {2024 Latin American Robotics Symposium (LARS)},

pages = {1-6},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}