3 citations · 6 across the 10 of their papers we have counts for
5 papers · 1 filter
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…
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…
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…
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…