142 citations · 670 across the 26 of their papers we have counts for
3 papers · 1 filter
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…
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
Michele Focchi, Romeo Orsolino, Marco Camurri +4
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with o…