4 papers
Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Riccardo Bussola, Michele Focchi, Giulio Turrisi +2
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, the…
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…
Pseudo-Kinematic Trajectory Control and Planning of Tracked Vehicles
Michele Focchi, Daniele Fontanelli, Davide Stocco +2
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to trav…
ALPINE: a climbing robot for operations in mountain environments
Michele Focchi, Andrea Del Prete, Daniele Fontanelli +3
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous…