20 citations · 85 across the 21 of their papers we have counts for
21 papers · 1 filter
From Tabletop to Walking Bot: Deploying a VLA Model on a Legged Manipulator Robot
Giovanni Minelli, Antonio Langella, Giovanni B. Dessy +4
Vision-language-action (VLA) models are typically pretrained on broad, diverse datasets and subsequently fine-tuned on a comparatively small dataset tailored to a specific target r…
Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism
Giovanni B. Dessy, Claudio Semini, Victor Barasuol
Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload carrying, but their impedance directly couples the payload dynamics wit…
Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion
Giulio Turrisi, Ozan Pali, Luca Oneto +1
Legged robots deployed in planetary exploration and other remote environments must maintain reliable locomotion despite actuator failures and challenging terrain conditions. Althou…
ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1
Load transportation with quadruped robots is strongly affected by the dynamics of the physical interface between the robot and the load. Passive spring-based arms provide a lightwe…
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
Max Siebenborn, Daniel Ordoñez Apraez, Sophie Lueth +4
Mobile manipulation requires coordinated control of high-dimensional, bimanual robots. Imitation learning methods have been broadly used to solve these robotic tasks, yet typically…
A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers
Ylenia Nisticò, João Carlos Virgolino Soares, Joan Solà +1
We compare three state-of-the-art proprioceptive state estimators for quadruped robots: MUSE [1], the Invariant Extended Kalman Filter (IEKF) [2], and the Invariant Smoother (IS) […
Load-Based Variable Transmission Mechanism for Robotic Applications
Sinan Emre, Victor Barasuol, Matteo Villa +1
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to externa…
Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
Vivian S. Medeiros, Giovanni B. Dessy, Thiago Boaventura +3
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomoti…
Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
Gabriel Fischer Abati, João Carlos Virgolino Soares, Giulio Turrisi +2
This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional…
CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation
Giovanni Minelli, Giulio Turrisi, Victor Barasuol +1
Learning robotic manipulation policies through supervised learning from demonstrations remains challenging when policies encounter execution variations not explicitly covered durin…
RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation
Mattia Risiglione, Abdelrahman Abdalla, Victor Barasuol +3
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform mani…
Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Riccardo Bussola, Michele Focchi, Giulio Turrisi +2
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, the…
Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
Lorenzo Amatucci, João Sousa-Pinto, Giulio Turrisi +3
This paper introduces a novel Model Predictive Control (MPC) implementation for legged robot locomotion that leverages GPU parallelization. Our approach enables both temporal and s…
Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti +7
Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent…
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv +4
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combin…
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control
Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros +2
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The c…
Leveraging Symmetry in RL-based Legged Locomotion Control
Zhi Su, Xiaoyu Huang, Daniel Ordoñez-Apraez +8
Model-free reinforcement learning is a promising approach for autonomously solving challenging robotics control problems, but faces exploration difficulty without information of th…
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta +2
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynam…
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion
Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci +2
Quadrupedal robots excel in mobility, navigating complex terrains with agility. However, their complex control systems present challenges that are still far from being fully addres…
Morphological Symmetries in Robotics
Daniel Ordoñez-Apraez, Giulio Turrisi, Vladimir Kostic +6
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently o…
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…