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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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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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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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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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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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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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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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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
