142 citations · 670 across the 26 of their papers we have counts for
6 papers · 1 filter
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…