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cs.RO2026
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…
cs.RO2026
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 reduce weight and…
cs.RO2025
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…