Publicações

@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}

}

@inproceedings{bermudezCLAWAR24,

title = {Comparative Analyses of ROS Local Planners for Quadrupedal Locomotion: A Study in Real and Simulated Environments},

author = {Gabriel Bermudez and Gabriel Duarte Gonçalves Pedro and Vivian Suzano Medeiros and Thiago Boaventura},

editor = {Karsten Berns and Mohammad Osman Tokhi and Arne Roennau and Manuel F. Silva and Rüdiger Dillmann},

doi = {10.1007/978-3-031-71301-9_28},

isbn = {978-3-031-71301-9},

year  = {2024},

date = {2024-01-01},

booktitle = {Walking Robots into Real World},

pages = {294–303},

publisher = {Springer Nature Switzerland},

address = {Cham},

abstract = {Advancements in hardware, computation, and algorithms are driving a revolution in the field of mobile robots. This study compares the ROS-based local planner navigation algorithms Dynamic Window Approach (DWA), Timed Elastic Band (TEB), and Trajectory Rollout for application in legged locomotion. The tests were performed in simulation and on a real quadruped robot using a small maze-type environment. The experiments measured the total time and distance achieved for each local planner. The results reveal a comparable performance among navigation algorithms in real and simulated environments. Specifically, the Timed Elastic Band (TEB) algorithm demonstrates superior performance, exhibiting an average traversal duration of 31.3 s in simulated environments and 30.8 s in real-world conditions, coupled with an average traversal distance of 14.5 m (simulated) and 13.7 m (real-world).},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{shime23lars,

title = {Force Control Benchmarking in the Gap Metric},

author = {Victor Shime and José L. Montandon Neto and Thiago Boaventura},

doi = {10.1109/LARS/SBR/WRE59448.2023.10333036},

year  = {2023},

date = {2023-01-01},

booktitle = {2023 Latin American Robotics Symposium (LARS), 2023 Brazilian Symposium on Robotics (SBR), and 2023 Workshop on Robotics in Education (WRE)},

pages = {373-378},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{elisa23cobem,

title = {Construction Of An Impedance Control Test Bench},

author = {Elisa Gamper Vergamini and Leonardo Felipe Santos and Cícero L. A. Zanette and Yecid Moreno and Feliz M. Escalante and Thiago Boaventura},

doi = {10.26678/ABCM.COBEM2023.COB2023-0847},

year  = {2023},

date = {2023-01-01},

booktitle = {Proceedings of the 27th International Congress of Mechanical Engineering},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{araujo23cobem,

title = {Experimental estimation of the moisture content of cotton bales through required hydraulic force},

author = {André Araújo Fernandes and Gabriel Alberto Bermudez Arias and André Vecchione and Thiago Boaventura},

doi = {10.26678/ABCM.COBEM2023.COB2023-1452},

year  = {2023},

date = {2023-01-01},

booktitle = {Proceedings of the 27th International Congress of Mechanical Engineering},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{montandon23cobem,

title = {A Tutorial On Linear Gap Metrics For Robust Control},

author = {José Luiz Montandon Neto and André Vecchione Segura and Thiago Boaventura},

doi = {10.26678/ABCM.COBEM2023.COB2023-0836},

year  = {2023},

date = {2023-01-01},

booktitle = {Proceedings of the 27th International Congress of Mechanical Engineering},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{lahr22icra,

title = {A hybrid model-based evolutionary optimization with passive boundaries for physical human-robot interaction},

author = {Gustavo J. G. Lahr and Henrique B. Garcia and Arash Ajoudani and Thiago Boaventura and Glauco A. P. Caurin},

doi = {10.1109/ICRA46639.2022.9811606},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 International Conference on Robotics and Automation (ICRA)},

pages = {1426-1432},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{yecid22biorob,

title = {ReRobApp: A modular and open-source software framework for robotic rehabilitation and human-robot interaction},

author = {Jose Y. Moreno and Felix M. Escalante and Thiago Boaventura and Marco H. Terra and Adriano A. G. Siqueira},

doi = {10.1109/BioRob52689.2022.9925470},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)},

pages = {1-6},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{leo22cdc,

title = {IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator},

author = {Leonardo F. Dos Santos and Felix M. Escalante and Adriano A. G. Siqueira and Thiago Boaventura},

doi = {10.1109/CDC51059.2022.9992650},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 IEEE 61st Conference on Decision and Control (CDC)},

pages = {2594-2599},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{calanca21exo,

title = {Toward Personal Affordable Exoskeletons With Force Control Capabilities},

author = {Andrea Calanca and Eldison Dimo and Enrico Sartori and Rudy Vicario and Noè Murr and Matteo Meneghetti and Davide Costanzi and Rafael Ferro and Thiago Boaventura and Emanuele Palazzi and Luca Luzi and Rocco Vertechy},

doi = {10.1145/3453892.3454005},

year  = {2021},

date = {2021-01-01},

booktitle = {The 14th PErvasive Technologies Related to Assistive Environments Conference (PETRA 2021)},

pages = {1-4},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{rudy21benchmarking,

title = {Benchmarking Force Control Algorithms},

author = {Rudy Vicario and Andrea Calanca and Eldison Dimo and Noè Murr and Matteo Meneghetti and Rafael Ferro and Enrico Sartori and Thiago Boaventura},

doi = {10.1145/3453892.3461332},

year  = {2021},

date = {2021-01-01},

booktitle = {The 14th PErvasive Technologies Related to Assistive Environments Conference (PETRA 2021)},

pages = {1-6},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{lahr2020,

title = {Genetic Approach for Coupled Dynamics Optimization in a Multiple Degree-of-Freedom System},

author = {Gustavo J. G. Lahr and Luiz A. Marao and Henrique B. Garcia and Thiago Boaventura and Glauco A. P. Caurin},

url = {https://ieeexplore.ieee.org/abstract/document/9307457},

isbn = {978-3-8007-5428-1},

year  = {2020},

date = {2020-01-01},

booktitle = {The 52th International Symposium on Robotics (ISR 2020)},

pages = {1-7},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{higa19icra,

title = {Joint kinematic configuration influence on the passivity of an impedance-controlled robotic leg},

author = {Felipe Y. G. Higa and Gustavo J. G. Lahr and Glauco A. P. Caurin and Thiago Boaventura},

doi = {10.1109/icra.2019.8794094},

year  = {2019},

date = {2019-05-01},

booktitle = {International Conference on Robotics and Automation (ICRA 2019)},

pages = {9516-9522},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{montandon19cobem,

title = {A Gap Metric Approach for Controller Certification of a Hydraulically-Actuated Legged Robot.},

author = {José Luiz Montandon Neto and Thiago Boaventura},

doi = {10.26678/abcm.cobem2019.cob2019-2184},

year  = {2019},

date = {2019-01-01},

booktitle = {Proceedings of the 25th International Congress of Mechanical Engineering},

publisher = {ABCM},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{moreira18iros,

title = {Online prediction of threading task failure using Convolutional Neural Networks},

author = {Guilherme R. Moreira and Gustavo J. G. Lahr and Thiago Boaventura and Jose O. Savazzi and Glauco A. P. Caurin},

doi = {10.1109/IROS.2018.8594501},

year  = {2018},

date = {2018-01-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)},

pages = {2056-2061},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{boaventura16icnr_kalman,

title = {Interaction Force Estimation for Transparency Control on Wearable Robots Using a Kalman Filter},

author = {Thiago Boaventura and Lisa Hammer and Jonas Buchli},

editor = {Jaime Ibáñez and José González-Vargas and José María Azorin and Metin Akay and José Luis Pons},

doi = {10.1007/978-3-319-46669-9_81},

isbn = {978-3-319-46669-9},

year  = {2017},

date = {2017-01-01},

booktitle = {Converging Clinical and Engineering Research on Neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR 2016)},

pages = {489–493},

publisher = {Springer International Publishing},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{lahr17cobem,

title = {Modeling and Control of a Macro-micro System using Interaction Controllers},

author = {G. J. G. Lahr and L. F. Costa and T. Boaventura and G. A. P. Caurin},

doi = {10.26678/ABCM.COBEM2017.COB17-1068},

year  = {2017},

date = {2017-01-01},

booktitle = {ABCM International Congress of Mechanical Engineering (COBEM)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{boaventura16iros_transparency,

title = {Acceleration-based transparency control framework for wearable robots},

author = {T. Boaventura and J. Buchli},

doi = {10.1109/IROS.2016.7759836},

year  = {2016},

date = {2016-10-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)},

pages = {5683-5688},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{boaventura16biorob,

title = {Coupled systems analyses for high-performance robust force control of wearable robots},

author = {T. Boaventura and J. Buchli},

doi = {10.1109/BIOROB.2016.7523763},

year  = {2016},

date = {2016-06-01},

booktitle = {6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016)},

pages = {1013-1018},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{neunert16clawar,

title = {Why off-the-shelf physics simulators fail in evaluating feedback controller performance - a case study for quadrupedal robots},

author = {Michael Neunert and Thiago Boaventura and Jonas Buchli},

doi = {10.1142/9789813149137_0055},

year  = {2016},

date = {2016-01-01},

booktitle = {International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR)},

pages = {464-472},

publisher = {WORLD SCIENTIFIC},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{semini13isrr,

title = {Is Active Impedance the Key to a Breakthrough for Legged Robots?},

author = {Claudio Semini and Victor Barasuol and Thiago Boaventura and Marco Frigerio and Jonas Buchli},

editor = {Masayuki Inaba and Peter Corke},

doi = {10.1007/978-3-319-28872-7_1},

isbn = {978-3-319-28872-7},

year  = {2016},

date = {2016-01-01},

booktitle = {The 16th International Symposium on Robotics Research (ISRR)},

pages = {3–19},

publisher = {Springer International Publishing},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{boaventura13IROS,

title = {Stability and performance of the compliance controller of the quadruped robot HyQ},

author = {T. Boaventura and G. A. Medrano-Cerda and C. Semini and J. Buchli and D. G. Caldwell},

doi = {10.1109/IROS.2013.6696541},

issn = {2153-0858},

year  = {2013},

date = {2013-11-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)},

pages = {1458-1464},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{boaventura12IROS,

title = {On the role of load motion compensation in high-performance force control},

author = {T. Boaventura and M. Focchi and M. Frigerio and J. Buchli and C. Semini and G. A. Medrano-Cerda and D. G. Caldwell},

doi = {10.1109/IROS.2012.6385953},

issn = {2153-0858},

year  = {2012},

date = {2012-10-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)},

pages = {4066-4071},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{boaventura12ICRA,

title = {Dynamic torque control of a hydraulic quadruped robot},

author = {T. Boaventura and C. Semini and J. Buchli and M. Frigerio and M. Focchi and D. G. Caldwell},

doi = {10.1109/ICRA.2012.6224628},

issn = {1050-4729},

year  = {2012},

date = {2012-05-01},

booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2012)},

pages = {1889-1894},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{amc12focchi,

title = {Torque-control based compliant actuation of a quadruped robot},

author = {M. Focchi and T. Boaventura and C. Semini and M. Frigerio and J. Buchli and D. G. Caldwell},

doi = {10.1109/AMC.2012.6197133},

issn = {1943-6572},

year  = {2012},

date = {2012-03-01},

booktitle = {12th IEEE International Workshop on Advanced Motion Control (AMC 2012)},

pages = {1-6},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}