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09/13/2023
Efficient Reinforcement Learning for Jumping Monopods
In this work, we consider the complex control problem of making a monopo...
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05/12/2023
Reactive Landing Controller for Quadruped Robots
Quadruped robots are machines intended for challenging and harsh environ...
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05/03/2023
Locosim: an Open-Source Cross-Platform Robotics Framework
The architecture of a robotics software framework tremendously influence...
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09/30/2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Online trajectory optimization techniques generally depend on heuristic-...
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09/20/2022
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
Rescue missions in mountain environments are hardly achievable by standa...
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08/25/2022
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
For legged robots, aerial motions are the only option to overpass obstac...
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07/20/2022
Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots
Model Predictive Control (MPC) approaches are widely used in robotics, s...
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05/13/2022
WoLF: the Whole-body Locomotion Framework for Quadruped Robots
The Whole-Body Locomotion Framework (WoLF) is an end-to-end software sui...
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03/08/2022
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
To traverse complex scenarios reliably a legged robot needs to move its ...
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05/12/2021
Mobility-enhanced MPC for Legged Locomotion on Rough Terrain
Re-planning in legged locomotion is crucial to track a given set-point w...
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11/16/2020
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
Developing feasible body trajectories for legged systems on arbitrary te...
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03/11/2020
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
Planning whole-body motions while taking into account the terrain condit...
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10/15/2019
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
We propose two feasibility constraints to be included in a Single Rigid ...
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04/28/2019
STANCE: Locomotion Adaptation over Soft Terrain
Whole-body Control (WBC) has emerged as an important framework in locomo...
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04/09/2019
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Most animal and human locomotion behaviors for solving complex tasks inv...
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04/09/2019
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Traditional motion planning approaches for multi-legged locomotion divid...
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04/07/2019
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
We present a framework for dynamic quadrupedal locomotion over challengi...
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03/19/2019
Feasible Region: an Actuation-Aware Extension of the Support Region
In legged locomotion the support region is defined as the 2D horizontal ...
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11/02/2018
Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain
We present a passivity-based Whole-Body Control approach for quadruped r...
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09/25/2018
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks
Legged robots can outperform wheeled machines for most navigation tasks ...
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05/25/2018
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
The quality of the visual feedback can vary significantly on a legged ro...
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12/19/2017
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes
Motion planning in multi-contact scenarios has recently gathered interes...
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12/07/2017