Research topics

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Perceptive and receding-horizon motion planning

Related publications:

M. Focchi, R. Orsolino, M. Camurri, V. Barasuol, C. Mastalli, D.G. Caldwell and C. Semini, Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality,
Springer Tracts on Advanced Robotics (STAR), 2019

Torque limits and simplified dynamic models

Related publications:

R. Orsolino, Actuation Aware Simplified Dynamic Models for Robotic Legged Locomotion,
PhD dissertation, Istituto Italiano di Tecnologia (IIT), Genova, Italy, 2019
R. Orsolino, M. Focchi, S. Caron, G. Raiola, V. Barasuol and C. Semini, Feasible Region: an Actuation-Aware Extension of the Support Region,
Transactions on Robotics (TRO), 2020
R. Orsolino, M. Focchi, C. Mastalli, H. Dai, D.G. Caldwell and C. Semini, Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots,
IEEE Robotics and Automation Letters (RA-L), 2018