142 citations · 670 across the 26 of their papers we have counts for
29 papers
Bi-Level Optimization for Contact and Motion Planning in Rope-Assisted Legged Robots
Ruben Malacarne, Ioannis Tsikelis, Enrico Mingo Hoffman +1
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization…
Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Riccardo Bussola, Michele Focchi, Giulio Turrisi +2
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, the…
Pseudo-Kinematic Trajectory Control and Planning of Tracked Vehicles
Michele Focchi, Daniele Fontanelli, Davide Stocco +2
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to trav…
ALPINE: a climbing robot for operations in mountain environments
Michele Focchi, Andrea Del Prete, Daniele Fontanelli +3
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous…
Efficient Reinforcement Learning for Jumping Monopods
Riccardo Bussola, Michele Focchi, Andrea Del Prete +2
In this work, we consider the complex control problem of making a monopod reach a target with a jump. The monopod can jump in any direction and the terrain underneath its foot can…
Reactive Landing Controller for Quadruped Robots
Francesco Roscia, Michele Focchi, Andrea Del Prete +2
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops…
Locosim: an Open-Source Cross-Platform Robotics Framework
Michele Focchi, Francesco Roscia, Claudio Semini
The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control…
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Angelo Bratta, Avadesh Meduri, Michele Focchi +2
In legged logomotion, online trajectory optimization techniques generally depend on heuristic-based contact planners in order to have low computation times and achieve high replann…
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
Michele Focchi, Mohamed Bensaadallah, Marco Frego +4
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We pres…
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete +2
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap…
Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots
Angelo Bratta, Michele Focchi, Niraj Rathod +1
Model Predictive Control (MPC) approaches are widely used in robotics, since they guarantee feasibility and allow the computation of updated trajectories while the robot is moving.…
WoLF: the Whole-body Locomotion Framework for Quadruped Robots
Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman
The Whole-Body Locomotion Framework (WoLF) is an end-to-end software suite devoted to the loco-manipulation of quadruped robots. WoLF abstracts the complexity of planning and contr…
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…
Model Predictive Control with Environment Adaptation for Legged Locomotion
Niraj Rathod, Angelo Bratta, Michele Focchi +4
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test…
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
Abdelrahman Abdallah, Michele Focchi, Romeo Orsolino +1
Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this paper, we present a paradigm that allows to design feasible Center of…
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
Carlos Mastalli, Ioannis Havoutis, Michele Focchi +2
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our…
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…
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Carlos Mastalli, Ioannis Havoutis, Michele Focchi +2
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movem…
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai +7
Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning abou…
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis +3
We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build…
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…
Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain
Shamel Fahmi, Carlos Mastalli, Michele Focchi +1
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We…
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
Octavio Villarreal, Victor Barasuol, Marco Camurri +5
Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots…