Research topics
Deep Reinforcement Learning (DRL) and Deep Learning
- R. Orsolino, O. Melon, S. Gangapurwala, M. Geisert, I. Havoutis and M. Fallon, Rapid stability margin estimation for contact-rich locomotion,
- IEEE International Conference on Intelligent Robots and Systems (IROS), 2021
- Presentation video (long), Short video
- S. Gangapurwala, M. Geisert, R. Orsolino, I. Havoutis and M. Fallon, RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control,
- IEEE Transactions on Robotics (TRO), 2022
- Video
- S. Gangapurwala, M. Geisert, R. Orsolino, I. Havoutis and M. Fallon, Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning,
- IEEE IEEE International Conference on Robotics and Automation (ICRA), 2021
- Video
Real-time perceptive and receding-horizon motion planning
Related publications:
- O. Melon, R. Orsolino, D. Surovik, M. Geisert, I. Havoutis and M. Fallon, Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization,
- IEEE International Conference on Robotics and Automation (ICRA), 2021
- 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