13 citations · 26 across the 14 of their papers we have counts for
3 papers · 1 filter
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
Alexandros Ntagkas, Chairi Kiourt, Konstantinos Chatzilygeroudis
State-of-the-art perceptive Reinforcement Learning controllers for legged robots typically either (i) impose oscillator-or IK-based gait priors that constrain the action space, bia…
Learning and Optimization with 3D Orientations
Alexandros Ntagkas, Constantinos Tsakonas, Chairi Kiourt +1
There exist numerous ways of representing 3D orientations. Each representation has both limitations and unique features. Choosing the best representation for one task is often a di…
A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning
Evangelos Tsiatsianas, Chairi Kiourt, Konstantinos Chatzilygeroudis
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have…