2 papers
cs.RO2026
Bi-Level Optimization for Contact and Motion Planning in Rope-Assisted Legged Robots
Ruben Malacarne, Ioannis Tsikelis, Enrico Mingo Hoffman +1
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization…
cs.RO2023
Modeling and Numerical Analysis of Kangaroo Lower Body based on Constrained Dynamics of Hybrid Serial-Parallel Floating-Base Systems
Enrico Mingo Hoffman, Andrea Curti, Narcis Miguel +4
This paper presents the modeling and numerical analysis of the Kangaroo lower body prototype, a novel bipedal humanoid robot developed and manufactured by PAL Robotics. Kangaroo fe…