Showing 2023Show all
2 papers · 1 filter
cs.RO2023
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains
Despina-Ekaterini Argiropoulos, Dimitrios Papageorgiou, Michael Maravgakis +2
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot…
cs.RO2023
Probabilistic Contact State Estimation for Legged Robots using Inertial Information
Michael Maravgakis, Despina-Ekaterini Argiropoulos, Stylianos Piperakis +1
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground.…