3 papers
Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol +1
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their c…
Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, David Omar Al Tawil +5
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might b…
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell +1
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper pr…