2 citations · 5 across the 6 of their papers we have counts for
7 papers
Global Path Planner with Multi-Model Switching
Pietro Gori, Francesco Iotti, Eduard Zelenay +5
This work enhances global path planning via a pure-pursuit controller with multi-model kinematic switching that sustains plan fidelity across diverse terrains. The system includes…
Continuous-Time Constrained Linear Quadratic Regulator for Switched Linear Systems
Pietro Gori, Michele Pierallini, Franco Angelini +1
Switched systems, characterized by a family of subsystems governed by a switching rule, widely apply to complex real-world scenarios. However, their inherent switching dynamics pos…
Contact-Guided Exploration for Non-Prehensile Locomanipulation with Multi-Critic RL
Simone Tolomei, Mayank Mittal, Franco Angelini +3
Non-prehensile manipulation offers versatile skills for moving and rearranging heavy or bulky objects, particularly when combined with a mobile manipulation platform. However, both…
Botany Meets Robotics in Alpine Scree Monitoring
Davide De Benedittis, Giovanni Di Lorenzo, Franco Angelini +5
According to the European Union's Habitat Directive, habitat monitoring plays a critical role in response to the escalating problems posed by biodiversity loss and environmental de…
Underactuated dexterous robotic grasping with reconfigurable passive joints
Marek Kopicki, Sainul Islam Ansary, Simone Tolomei +3
We introduce a novel reconfigurable passive joint (RP-joint), which has been implemented and tested on an underactuated three-finger robotic gripper. RP-joint has no actuation, but…
Optimal Control for Articulated Soft Robots
Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini +2
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic pr…
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion
Guiyang Xin, Songyan Xin, Oguzhan Cebe +5
In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected…