73 citations · 179 across the 24 of their papers we have counts for
3 papers · 1 filter
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv +4
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combin…
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control
Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros +2
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The c…
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta +2
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynam…