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07/27/2023
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
This extended abstract provides a short introduction on our recently dev...
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07/24/2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
We present a footstep planning policy for quadrupedal locomotion that is...
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07/23/2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
Legged robots are increasingly entering new domains and applications, in...
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07/10/2023
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
We propose a control pipeline for SAG (Searching, Approaching, and Grasp...
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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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01/02/2023
Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots
There is a dramatic shortage of skilled labor for modern vineyards. The ...
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12/02/2022
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
This work is on vision-based planning strategies for legged robots that ...
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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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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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08/01/2022
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
Quadrupedal manipulators require to be compliant when dealing with exter...
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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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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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01/06/2021
On State Estimation for Legged Locomotion over Soft Terrain
Locomotion over soft terrain remains a challenging problem for legged ro...
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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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07/02/2020
Line Walking and Balancing for Legged Robots with Point Feet
The ability of legged systems to traverse highly-constrained environment...
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03/20/2020
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot
Advances in legged robotics are strongly rooted in animal observations. ...
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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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09/30/2019
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
We present a novel control strategy for dynamic legged locomotion in com...
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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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04/07/2019
On-line and on-board planning and perception for quadrupedal locomotion
We present a legged motion planning approach for quadrupedal locomotion ...
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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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11/03/2018
A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots
Legged robots are becoming popular not only in research, but also in ind...
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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