25 citations · 36 across the 4 of their papers we have counts for
7 papers · 1 filter
Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies
Luca Rossini, Paolo Ferrari, Francesco Ruscelli +3
The deployment of robots within realistic environments requires the capability to plan and refine the loco-manipulation trajectories on the fly to avoid unexpected interactions wit…
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi +3
Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or the quadruped ANYmal [2] i…
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach
Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi +1
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the h…
Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System
Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere +29
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promisin…
Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance
Tobias Klamt, Max Schwarz, Christian Lenz +21
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenan…
Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing
Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell +1
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a n…