73 citations · 179 across the 24 of their papers we have counts for
4 papers · 1 filter
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
Angelo Bratta, Romeo Orsolino, Michele Focchi +3
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility cons…
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
Octavio Villarreal, Victor Barasuol, Patrick M. Wensing +2
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-boar…
STANCE: Locomotion Adaptation over Soft Terrain
Shamel Fahmi, Michele Focchi, Andreea Radulescu +3
Whole-body Control (WBC) has emerged as an important framework in locomotion control for legged robots. However, most of WBC frameworks fail to generalize beyond rigid terrains. Le…
Feasible Region: an Actuation-Aware Extension of the Support Region
Romeo Orsolino, Michele Focchi, Stéphane Caron +3
In legged locomotion the projection of the robot Center of Mass (CoM) being inside the convex hull of the contact points is a commonly accepted sufficient condition to achieve stat…