73 citations · 179 across the 24 of their papers we have counts for
31 papers
Terrain-Aware Autonomous Planetary Exploration for Exteroceptive-Proprioceptive Mapping with Quadruped Scouts
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol +1
Autonomous planetary exploration requires robots to navigate unknown, uneven terrain while assessing risk, traversability, and energetic cost. Quadruped scouts are well suited for…
Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism
Giovanni B. Dessy, Claudio Semini, Victor Barasuol
Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload carrying, but their impedance directly couples the payload dynamics wit…
ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1
Load transportation with quadruped robots is strongly affected by the dynamics of the physical interface between the robot and the load. Passive spring-based arms reduce weight and…
Load-Based Variable Transmission Mechanism for Robotic Applications
Sinan Emre, Victor Barasuol, Matteo Villa +1
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to externa…
Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
Vivian S. Medeiros, Giovanni B. Dessy, Thiago Boaventura +3
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomoti…
Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol +1
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their c…