5 papers
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…
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…
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…
Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry
Michael Adlerstein, Angelo Bratta, João Carlos Virgolino Soares +4
Grapevine winter pruning is a labor-intensive and repetitive process that significantly influences the quality and quantity of the grape harvest and produced wine of the following…