20 citations · 109 across the 21 of their papers we have counts for
4 papers · 1 filter
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
Daniel Ordoñez-Apraez, Vladimir Kostic, Giulio Turrisi +4
We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces. These are lower-dimensional spaces that capt…
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi +2
This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Vi…
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
Shafeef Omar, Lorenzo Amatucci, Victor Barasuol +2
We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learn…
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
Ilyass Taouil, Giulio Turrisi, Daniel Schleich +3
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world…