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…
Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments
Emad Razavi, Angelo Bratta, João Carlos Virgolino Soares +2
We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. Durin…
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…