3 papers
cs.RO2025
Adaptive MPC-based quadrupedal robot control under periodic disturbances
Elizaveta Pestova, Ilya Osokin, Danil Belov +1
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enab…
cs.RO2025
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning
Danil Belov, Artem Erkhov, Elizaveta Pestova +3
The aim of this work is to enable quadrupedal robots to mount skateboards using Reverse Curriculum Reinforcement Learning. Although prior work has demonstrated skateboarding for qu…
cs.RO2024
Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring
Danil Belov, Artem Erkhov, Farit Khabibullin +5
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position an…