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cs.RO2024★ 1 cited
Biomechanics-Aware Trajectory Optimization for Online Navigation during Robotic Physiotherapy
Italo Belli, Florian van Melis, J. Micah Prendergast +2
Robotic devices provide a great opportunity to assist in delivering physical therapy and rehabilitation movements, yet current robot-assisted methods struggle to incorporate biomec…
cs.RO2021
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…