73 citations · 179 across the 24 of their papers we have counts for
3 papers · 1 filter
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
Shamel Fahmi, Victor Barasuol, Domingo Esteban +2
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies…
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell +1
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper pr…
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
Luca Clemente, Octavio Villarreal, Angelo Bratta +4
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in co…