73 citations · 179 across the 24 of their papers we have counts for
4 papers · 1 filter
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi +2
This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Vi…
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell +2
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-base…
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
Shafeef Omar, Lorenzo Amatucci, Victor Barasuol +2
We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learn…
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
Ilyass Taouil, Giulio Turrisi, Daniel Schleich +3
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world…