142 citations · 670 across the 26 of their papers we have counts for
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cs.RO2020★ 1 cited
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…
cs.RO2020★ 142 cited
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…