3 papers
cs.RO2025
Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
Shubham Vyas, Franek Stark, Rohit Kumar +6
Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robo…
cs.RO2025
An adaptive hierarchical control framework for quadrupedal robots in planetary exploration
Franek Stark, Rohit Kumar, Shubham Vyas +6
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited t…
cs.RO2025
Adaptive Model-Base Control of Quadrupeds via Online System Identification using Kalman Filter
Jonas Haack, Franek Stark, Shubham Vyas +2
Many real-world applications require legged robots to be able to carry variable payloads. Model-based controllers such as model predictive control (MPC) have become the de facto st…