15 citations · 33 across the 10 of their papers we have counts for
10 papers
BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection
Giulio Turrisi, Angelo Bratta, Giovanni Minelli +4
Litter pollution represents a growing environmental problem affecting natural and urban ecosystems worldwide. Waste discarded in public spaces often accumulates in areas that are d…
Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments
Emad Razavi, Angelo Bratta, João Carlos Virgolino Soares +2
We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. Durin…
SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration
Michael Adlerstein, João Carlos Virgolino Soares, Angelo Bratta +1
Point cloud registration is a critical problem in computer vision and robotics, especially in the field of navigation. Current methods often fail when faced with high outlier rates…
Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry
Michael Adlerstein, Angelo Bratta, João Carlos Virgolino Soares +4
Grapevine winter pruning is a labor-intensive and repetitive process that significantly influences the quality and quantity of the grape harvest and produced wine of the following…
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta +2
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynam…
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Angelo Bratta, Avadesh Meduri, Michele Focchi +2
In legged logomotion, online trajectory optimization techniques generally depend on heuristic-based contact planners in order to have low computation times and achieve high replann…
Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots
Angelo Bratta, Michele Focchi, Niraj Rathod +1
Model Predictive Control (MPC) approaches are widely used in robotics, since they guarantee feasibility and allow the computation of updated trajectories while the robot is moving.…
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
Luca Clemente, Octavio Villarreal, Angelo Bratta +4
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in co…
Model Predictive Control with Environment Adaptation for Legged Locomotion
Niraj Rathod, Angelo Bratta, Michele Focchi +4
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test…
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
Angelo Bratta, Romeo Orsolino, Michele Focchi +3
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility cons…