2 papers
cs.RO2021
On State Estimation for Legged Locomotion over Soft Terrain
Shamel Fahmi, Geoff Fink, Claudio Semini
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation for legged robots is designed for rigid contacts, and does n…
cs.RO2019
STANCE: Locomotion Adaptation over Soft Terrain
Shamel Fahmi, Michele Focchi, Andreea Radulescu +3
Whole-body Control (WBC) has emerged as an important framework in locomotion control for legged robots. However, most of WBC frameworks fail to generalize beyond rigid terrains. Le…