142 citations · 814 across the 36 of their papers we have counts for
4 papers · 1 filter
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…
Line Walking and Balancing for Legged Robots with Point Feet
Carlos Gonzalez, Victor Barasuol, Marco Frigerio +3
The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a con…
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot
Gabriel Urbain, Victor Barasuol, Claudio Semini +2
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identifi…
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…