41 citations · 43 across the 3 of their papers we have counts for
3 papers · 1 filter
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
Shamel Fahmi, Victor Barasuol, Domingo Esteban +2
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies…
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
Luca Clemente, Octavio Villarreal, Angelo Bratta +4
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in co…
Model Predictive Control with Environment Adaptation for Legged Locomotion
Niraj Rathod, Angelo Bratta, Michele Focchi +4
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test…