4 citations · 6 across the 5 of their papers we have counts for
7 papers
Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications
Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli +13
This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to…
Prototyping fast and agile motions for legged robots with Horizon
Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis +1
For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is…
Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies
Luca Rossini, Paolo Ferrari, Francesco Ruscelli +3
The deployment of robots within realistic environments requires the capability to plan and refine the loco-manipulation trajectories on the fly to avoid unexpected interactions wit…
WoLF: the Whole-body Locomotion Framework for Quadruped Robots
Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman
The Whole-Body Locomotion Framework (WoLF) is an end-to-end software suite devoted to the loco-manipulation of quadruped robots. WoLF abstracts the complexity of planning and contr…
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi +3
Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or the quadruped ANYmal [2] i…
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach
Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi +1
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the h…