73 citations · 179 across the 24 of their papers we have counts for
9 papers · 1 filter
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…
Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, David Omar Al Tawil +5
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might b…
Floating-Base Deep Lagrangian Networks
Lucas Schulze, Juliano Decico Negri, Victor Barasuol +4
Grey-box methods for system identification combine deep learning with physics-informed constraints, capturing complex dependencies while improving out-of-distribution generalizatio…
Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
Gabriel Fischer Abati, João Carlos Virgolino Soares, Giulio Turrisi +2
This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional…