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.RO2024
Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization
Ioannis Tsikelis, Konstantinos Chatzilygeroudis
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven…