6 papers
Multi-critic Learning for Whole-body End-effector Twist Tracking
Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione +2
Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically…
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…
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione +2
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for…
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell +2
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-base…
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell +1
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper pr…
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti +3
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the…