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DTSTART:20171029T030000
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DTSTART:20170326T020000
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UID:calendar.12929.field_data.0@oba.diag.uniroma1.it
DTSTAMP:20260405T053314Z
CREATED:20171015T123405Z
DESCRIPTION:The Newton-Euler equations that govern multi-body systems are n
 otintegrable in general. However\, they become so in the pendular mode\, a
 specific way of moving where conservation of the angular momentum isenforc
 ed. This property was successfully showcased for locomotion overhorizontal
  floors (2D locomotion) by walking-pattern generators based onthe LIPM and
  CART-table models. In this talk\, we will see how togeneralize these two 
 models to 3D locomotion while taking into accountboth friction and tilted 
 contacts\, resulting into the FIP (3D version ofLIPM) and COM-accel (3D ve
 rsion of CART-table) models. We willdemonstrate both approaches in live si
 mulations with the HRP-4 humanoidmodel.BiographyStéphane Caron is a resear
 cher in humanoid locomotion in the IDH groupat CNRS-University of Montpell
 ier LIRMM (France). An alumni of the ÉcoleNormale Supérieure (ENS Paris)\,
  he stayed at the Technicolor Lab.\, PaloAlto (California)\, before joinin
 g the Nakamura Lab. to undergo hisdoctoral studies. He received the Ph.D. 
 in Mechano-Informatics from theUniversity of Tokyo (Japan) in 2016\, with 
 a thesis on multi-contactmotion planning for humanoid robots. His research
  interests includecontact interaction\, numerical optimization and predict
 ive control\, allrelated to the broader field of humanoid locomotion.
DTSTART;TZID=Europe/Paris:20171019T120000
DTEND;TZID=Europe/Paris:20171019T120000
LAST-MODIFIED:20221216T112253Z
LOCATION:Aula 5
SUMMARY:Stephane Caron: Pendular models for walking over rough terrains - S
 tephane Caron
URL;TYPE=URI:http://oba.diag.uniroma1.it/node/12929
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