4 citations · 10 across the 13 of their papers we have counts for
13 papers
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Luca Rossini, Arturo Laurenzi, Francesco Ruscelli +8
This paper presents KYON, a hybrid wheel-legged quadruped robot equipped with a bimanual upper body for loco-manipulation tasks. The platform features a semi-modular design with a…
Cartan flow matching
Francesco Ruscelli, Ferdinando Zanchetta, Rita Fioresi
We introduce Cartan flow matching, a general framework for training flow matching models on Riemannian symmetric spaces, i.e. Riemannian manifolds with the property that at any poi…
Flow matching on homogeneous spaces
Francesco Ruscelli
We propose a general framework to extend Flow Matching to homogeneous spaces, i.e. quotients of Lie groups. Our approach reformulates the problem as a flow matching task on the und…
RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion
Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi +3
We propose a contact-explicit hierarchical architecture coupling Reinforcement Learning (RL) and Model Predictive Control (MPC), where a high-level RL agent provides gait and navig…
On Mañé's Critical Value for Tonelli Lagrangians on Half Lie-Groups
Levin Maier, Francesco Ruscelli
In this article, we introduce Tonelli Lagrangians on half-Lie groups equipped with a strong right-invariant Riemannian metric. These are right-invariant Lagrangians defined on the…
The Hopf--Rinow Theorem and Mañé's Critical Value for Magnetic Geodesics on Half Lie-Groups
Levin Maier, Francesco Ruscelli
In this article, we investigate \emph{right-invariant magnetic systems} on half-Lie groups, which consist of a strong right-invariant Riemannian metric and a right-invariant closed…
Pre-Lagrangian tori transverse to an Anosov flow
Francesco Ruscelli
An Anosov flow on a smooth three-manifold gives rise to a Liouville structure on by a construction of Mitsumatsu. In a recent paper, Cieliebak, Lazarev, M…
CONCERT: a Modular Reconfigurable Robot for Construction
Luca Rossini, Edoardo Romiti, Arturo Laurenzi +16
This paper presents CONCERT, a fully reconfigurable modular collaborative robot (cobot) for multiple on-site operations in a construction site. CONCERT has been designed to support…
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
Jin Wang, Rui Dai, Weijie Wang +3
Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assist…
Combinatorics of linear stability for Hamiltonian systems in arbitrary dimension
Agustin Moreno, Francesco Ruscelli
We address the general problem of studying linear stability and bifurcations of periodic orbits for Hamiltonian systems of arbitrary degrees of freedom. We study the topology of th…
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…