138 citations · 230 across the 8 of their papers we have counts for
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cs.RO2017★ 1 cited
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot's actuation capabilities. This means, when possible, to…
cs.RO2017★ 61 cited
Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We belie…