6 papers
Low-Cost Teleoperation Extension for Mobile Manipulators
Danil Belov, Artem Erkhov, Yaroslav Savotin +3
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-sou…
Incremental Mapping with Measurement Synchronization & Compression
Mark Griguletskii, Danil Belov, Pavel Osinenko
Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation i…
Adaptive MPC-based quadrupedal robot control under periodic disturbances
Elizaveta Pestova, Ilya Osokin, Danil Belov +1
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enab…
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning
Danil Belov, Artem Erkhov, Elizaveta Pestova +3
The aim of this work is to enable quadrupedal robots to mount skateboards using Reverse Curriculum Reinforcement Learning. Although prior work has demonstrated skateboarding for qu…
ViewVR: Visual Feedback Modes to Achieve Quality of VR-based Telemanipulation
A. Erkhov, A. Bazhenov, S. Satsevich +6
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used…
Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring
Danil Belov, Artem Erkhov, Farit Khabibullin +5
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position an…