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Accelerating Model Predictive Control for Legged Robots through Distributed Optimization

arXiv
2024 | Other
DOI: 10.48550/arXiv.2403.11742
EID:

2-s2.0-85189051123

Part of ISSN: 23318422
Contributors: Amatucci, L.; Turrisi, G.; Bratta, A.; Barasuol, V.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs

Lecture Notes in Networks and Systems
2024 | Conference paper
DOI: 10.1007/978-3-031-47269-5_24
EID:

2-s2.0-85185714129

Part of ISBN: 9783031472688
Part of ISSN: 23673389 23673370
Contributors: Barasuol, V.; Emre, S.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion

arXiv
2023 | Other
EID:

2-s2.0-85167893898

Part of ISSN: 23318422
Contributors: Omar, S.; Amatucci, L.; Turrisi, G.; Barasuol, V.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators

arXiv
2023 | Other
EID:

2-s2.0-85165675377

Part of ISSN: 23318422
Contributors: Parosi, R.; Risiglione, M.; Caldwell, D.G.; Semini, C.; Barasuol, V.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators

IEEE International Conference on Intelligent Robots and Systems
2023 | Conference paper
DOI: 10.1109/IROS55552.2023.10341714
EID:

2-s2.0-85182525481

Part of ISBN: 9781665491907
Part of ISSN: 21530866 21530858
Contributors: Parosi, R.; Risiglione, M.; Caldwell, D.G.; Semini, C.; Barasuol, V.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller

arXiv
2023 | Other
EID:

2-s2.0-85166105815

Part of ISSN: 23318422
Contributors: Taouil, I.; Turrisi, G.; Schleich, D.; Barasuol, V.; Semini, C.; Behnke, S.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller

IEEE International Conference on Intelligent Robots and Systems
2023 | Conference paper
DOI: 10.1109/IROS55552.2023.10342440
EID:

2-s2.0-85182523981

Part of ISBN: 9781665491907
Part of ISSN: 21530866 21530858
Contributors: Taouil, I.; Turrisi, G.; Schleich, D.; Barasuol, V.; Semini, C.; Behnke, S.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors

arXiv
2023 | Other
DOI: 10.48550/arXiv.2307.12664
EID:

2-s2.0-85177543887

Part of ISSN: 23318422
Contributors: Omar, S.; Amatucci, L.; Barasuol, V.; Turrisi, G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors

IEEE-RAS International Conference on Humanoid Robots
2023 | Conference paper
DOI: 10.1109/Humanoids57100.2023.10375218
EID:

2-s2.0-85182939729

Part of ISBN: 9798350303278
Part of ISSN: 21640580 21640572
Contributors: Omar, S.; Amatucci, L.; Barasuol, V.; Turrisi, G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots

IEEE Transactions on Robotics
2023 | Journal article
DOI: 10.1109/TRO.2022.3222958
EID:

2-s2.0-85144013474

Part of ISSN: 19410468 15523098
Contributors: Fahmi, S.; Barasuol, V.; Esteban, D.; Villarreal, O.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

arXiv
2022 | Other
DOI: 10.48550/arXiv.2208.00810
EID:

2-s2.0-85135994707

Part of ISSN: 23318422
Contributors: Risiglione, M.; Barasuol, V.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

IEEE International Conference on Intelligent Robots and Systems
2022 | Conference paper
DOI: 10.1109/IROS47612.2022.9981895
EID:

2-s2.0-85141811431

Part of ISBN: 9781665479271
Part of ISSN: 21530866 21530858
Contributors: Risiglione, M.; Barasuol, V.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

Proceedings - IEEE International Conference on Robotics and Automation
2022 | Conference paper
DOI: 10.1109/ICRA46639.2022.9812434
EID:

2-s2.0-85136331156

Part of ISBN: 9781728196817
Part of ISSN: 10504729
Contributors: Clemente, L.; Villarreal, O.; Bratta, A.; Focchi, M.; Barasuol, V.; Muscolo, G.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier
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MPC-Based Reference Governor Control for Self-Righting of Quadruped Robots: Preliminary Results

2022 19th Latin American Robotics Symposium, 2022 14th Brazilian Symposium on Robotics and 2022 13th Workshop on Robotics in Education, LARS-SBR-WRE 2022
2022 | Conference paper
DOI: 10.1109/LARS/SBR/WRE56824.2022.9995759
EID:

2-s2.0-85146701561

Part of ISBN: 9781665462808
Contributors: Dobrikopf, A.G.; Schulze, L.; Bertol, D.W.; Barasuol, V.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots

arXiv
2022 | Other
DOI: 10.48550/arXiv.2212.01246
EID:

2-s2.0-85144788263

Part of ISSN: 23318422
Contributors: Fahmi, S.; Barasuol, V.; Esteban, D.; Villarreal, O.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Effect of compliance on morphological control of dynamic locomotion with HyQ

Autonomous Robots
2021 | Journal article
DOI: 10.1007/s10514-021-09974-9
EID:

2-s2.0-85102504780

Part of ISSN: 15737527 09295593
Contributors: Urbain, G.; Barasuol, V.; Semini, C.; Dambre, J.; wyffels, F.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Feasible Region: An Actuation-Aware Extension of the Support Region

IEEE Transactions on Robotics
2020 | Journal article
DOI: 10.1109/TRO.2020.2983318
EID:

2-s2.0-85089475355

Part of ISSN: 19410468 15523098
Contributors: Orsolino, R.; Focchi, M.; Caron, S.; Raiola, G.; Barasuol, V.; G. Caldwell, D.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

Springer Tracts in Advanced Robotics
2020 | Book chapter
DOI: 10.1007/978-3-030-22327-4_9
EID:

2-s2.0-85076221743

Part of ISSN: 1610742X 16107438
Contributors: Focchi, M.; Orsolino, R.; Camurri, M.; Barasuol, V.; Mastalli, C.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Line walking and balancing for legged robots with point feet

IEEE International Conference on Intelligent Robots and Systems
2020 | Conference paper
DOI: 10.1109/IROS45743.2020.9341743
EID:

2-s2.0-85102399737

Part of ISBN: 9781728162126
Part of ISSN: 21530866 21530858
Contributors: Gonzalez, C.; Barasuol, V.; Frigerio, M.; Featherstone, R.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Line Walking and Balancing for Legged Robots with Point Feet

arXiv
2020 | Other
DOI: 10.48550/arxiv.2007.01087
EID:

2-s2.0-85171038906

Part of ISSN: 23318422
Contributors: Gonzalez, C.; Barasuol, V.; Frigerio, M.; Featherstone, R.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion

Proceedings - IEEE International Conference on Robotics and Automation
2020 | Conference paper
DOI: 10.1109/ICRA40945.2020.9197312
EID:

2-s2.0-85087391034

Part of ISBN: 9781728173955
Part of ISSN: 10504729
Contributors: Villarreal, O.; Barasuol, V.; Wensing, P.M.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics

Proceedings - IEEE International Conference on Robotics and Automation
2020 | Conference paper
DOI: 10.1109/ICRA40945.2020.9196903
EID:

2-s2.0-85092714512

Part of ISBN: 9781728173955
Part of ISSN: 10504729
Contributors: Bratta, A.; Orsolino, R.; Focchi, M.; Barasuol, V.; Muscolo, G.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

On the influence of body velocity in foothold adaptation for dynamic legged locomotion via cnns

Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
2020 | Conference paper
DOI: 10.13180/clawar.2020.24-26.08.62
EID:

2-s2.0-85091323634

Part of ISBN: 9781916449046
Contributors: Esteban, D.; Villarreal, O.; Fahmi, S.; Semini, C.; Barasuol, V.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Stance control inspired by cerebellum stabilizes reflex-based locomotion on HyQ robot

arXiv
2020 | Other
DOI: 10.48550/arxiv.2003.09327
EID:

2-s2.0-85170117886

Part of ISSN: 23318422
Contributors: Urbain, G.; Barasuol, V.; Semini, C.; Dambre, J.; Wyffels, F.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot

Proceedings - IEEE International Conference on Robotics and Automation
2020 | Conference paper
DOI: 10.1109/ICRA40945.2020.9196523
EID:

2-s2.0-85092687328

Part of ISBN: 9781728173955
Part of ISSN: 10504729
Contributors: Urbain, G.; Barasuol, V.; Semini, C.; Dambre, J.; Wyffels, F.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

STANCE: Locomotion Adaptation over Soft Terrain

IEEE Transactions on Robotics
2020 | Journal article
DOI: 10.1109/TRO.2019.2954670
EID:

2-s2.0-85083027053

Part of ISSN: 19410468 15523098
Contributors: Fahmi, S.; Focchi, M.; Radulescu, A.; Fink, G.; Barasuol, V.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs

IEEE Robotics and Automation Letters
2019 | Journal article
DOI: 10.1109/LRA.2019.2899434
EID:

2-s2.0-85062921473

Part of ISSN: 23773766
Contributors: Magaña, O.A.V.; Barasuol, V.; Camurri, M.; Franceschi, L.; Focchi, M.; Pontil, M.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Feasible region: An actuation-aware extension of the support region

arXiv
2019 | Other
DOI: 10.48550/arxiv.1903.07999
EID:

2-s2.0-85170737297

Part of ISSN: 23318422
Contributors: Orsolino, R.; Focchi, M.; Caron, S.; Raiola, G.; Barasuol, V.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

MPC-based controller with terrain insight for dynamic legged locomotion

arXiv
2019 | Other
DOI: 10.48550/arxiv.1909.13842
EID:

2-s2.0-85170990332

Part of ISSN: 23318422
Contributors: Villarreal, O.; Barasuol, V.; Wensing, P.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

On the hardware feasibility of nonlinear trajectory optimization for legged locomotion based on a simplified dynamics

arXiv
2019 | Other
DOI: 10.48550/arxiv.1910.06855
EID:

2-s2.0-85169952266

Part of ISSN: 23318422
Contributors: Bratta, A.; Orsolino, R.; Focchi, M.; Barasuol, V.; Muscolo, G.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

STANCE: Locomotion adaptation over soft terrain

arXiv
2019 | Other
DOI: 10.48550/arxiv.1904.12306
EID:

2-s2.0-85170315696

Part of ISSN: 23318422
Contributors: Fahmi, S.; Focchi, M.; Radulescu, A.; Fink, G.; Barasuol, V.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Actuator Modeling and Simulation

Humanoid Robotics: A Reference
2018 | Book chapter
Part of DOI: 10.1007/978-94-007-6046-2_75
EID:

2-s2.0-85138918459

ISBN: 9789400760462 9789400760455
Contributors: Malzahn, J.; Barasuol, V.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Fast and continuous foothold adaptation for dynamic locomotion through CNNs

arXiv
2018 | Other
DOI: 10.48550/arxiv.1809.09759
EID:

2-s2.0-85170447264

Part of ISSN: 23318422
Contributors: Villarreal, O.; Barasuol, V.; Camurri, M.; Franceschi, L.; Focchi, M.; Pontil, M.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality

arXiv
2018 | Other
DOI: 10.48550/arxiv.1805.10238
EID:

2-s2.0-85170954839

Part of ISSN: 23318422
Contributors: Focchi, M.; Orsolino, R.; Camurri, M.; Barasuol, V.; Mastalli, C.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Highly-integrated hydraulic smart actuators and smart manifolds for high-bandwidth force control

Frontiers Robotics AI
2018 | Journal article
DOI: 10.3389/frobt.2018.00051
EID:

2-s2.0-85050123221

Part of ISSN: 22969144
Contributors: Barasuol, V.; Villarreal-Magaña, O.A.; Sangiah, D.; Frigerio, M.; Baker, M.; Morgan, R.; Medrano-Cerda, G.A.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Slip Detection and Recovery for Quadruped Robots

Springer Proceedings in Advanced Robotics
2018 | Book chapter
DOI: 10.1007/978-3-319-60916-4_11
EID:

2-s2.0-85107081462

Part of ISSN: 25111264 25111256
Contributors: Focchi, M.; Barasuol, V.; Frigerio, M.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Validation of computer simulations of the HyQ robot

Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017
2018 | Conference paper
DOI: 10.1142/9789813231047_0051
EID:

2-s2.0-85068809578

Part of ISBN: 9789813231047
Contributors: Frigerio, M.; Barasuol, V.; Focchi, M.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max

IEEE/ASME Transactions on Mechatronics
2017 | Journal article
DOI: 10.1109/TMECH.2016.2616284
EID:

2-s2.0-85018516257

Part of ISSN: 10834435
Contributors: Semini, C.; Barasuol, V.; Goldsmith, J.; Frigerio, M.; Focchi, M.; Gao, Y.; Caldwell, D.G.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots

Robotics: Science and Systems
2017 | Conference paper
DOI: 10.15607/rss.2017.xiii.007
EID:

2-s2.0-85048730738

Part of ISBN: 9780992374730
Part of ISSN: 2330765X
Contributors: Nobili, S.; Camurri, M.; Barasuol, V.; Focchi, M.; Caldwell, D.G.; Semini, C.; Fallon, M.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Interaction analysis between a hydraulic load simulator and a pneumatic positioning system

ASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017
2017 | Conference paper
DOI: 10.1115/FPMC2017-4356
EID:

2-s2.0-85040063178

Part of ISBN: 9780791858332
Contributors: Ledezma, J.A.; De Negri, V.J.; Barasuol, V.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Kinematic design of a configurable terrain simulator platform for robotic legs

2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
2017 | Conference paper
DOI: 10.1109/ICARM.2017.8273154
EID:

2-s2.0-85050720204

Part of ISBN: 9781538632604
Contributors: Gao, Y.; Barasuol, V.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Learning optimal gait parameters and impedance profiles for legged locomotion

IEEE-RAS International Conference on Humanoid Robots
2017 | Conference paper
DOI: 10.1109/HUMANOIDS.2017.8246895
EID:

2-s2.0-85044441637

Part of ISBN: 9781538646786
Part of ISSN: 21640580 21640572
Contributors: Heijmink, E.; Radulescu, A.; Ponton, B.; Barasuol, V.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots

IEEE Robotics and Automation Letters
2017 | Journal article
DOI: 10.1109/LRA.2017.2652491
EID:

2-s2.0-85041950541

Part of ISSN: 23773766
Contributors: Camurri, M.; Fallon, M.; Bazeille, S.; Radulescu, A.; Barasuol, V.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Is active impedance the key to a breakthrough for legged robots?

Springer Tracts in Advanced Robotics
2016 | Conference paper
DOI: 10.1007/978-3-319-28872-7_1
EID:

2-s2.0-84964872050

Part of ISBN: 9783319288703
Part of ISSN: 1610742X 16107438
Contributors: Semini, C.; Barasuol, V.; Boaventura, T.; Frigerio, M.; Buchli, J.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Study on the morphological parameters of quadruped robot designs considering ditch traversability

2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
2016 | Conference paper
DOI: 10.1109/ROBIO.2016.7866336
EID:

2-s2.0-85016809564

Part of ISBN: 9781509043644
Contributors: Gao, Y.; Barasuol, V.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Development of the lightweight hydraulic quadruped robot - MiniHyQ

IEEE Conference on Technologies for Practical Robot Applications, TePRA
2015 | Conference paper
DOI: 10.1109/TePRA.2015.7219671
EID:

2-s2.0-84949981349

Part of ISBN: 9781479987573 9781479987573
Part of ISSN: 23250534 23250526
Contributors: Khan, H.; Kitano, S.; Frigerio, M.; Camurri, M.; Barasuol, V.; Featherstone, R.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Reactive trotting with foot placement corrections through visual pattern classification

IEEE International Conference on Intelligent Robots and Systems
2015 | Conference paper
DOI: 10.1109/IROS.2015.7354191
EID:

2-s2.0-84958178165

Part of ISBN: 9781479999941
Part of ISSN: 21530866 21530858
Contributors: Barasuol, V.; Camurri, M.; Bazeille, S.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Towards versatile legged robots through active impedance control

International Journal of Robotics Research
2015 | Journal article
DOI: 10.1177/0278364915578839
EID:

2-s2.0-84930453796

Part of ISSN: 17413176 02783649
Contributors: Semini, C.; Barasuol, V.; Boaventura, T.; Frigerio, M.; Focchi, M.; Caldwell, D.G.; Buchli, J.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

Quadruped robot trotting over irregular terrain assisted by stereo-vision

Intelligent Service Robotics
2014 | Journal article
DOI: 10.1007/s11370-014-0147-9
EID:

2-s2.0-84898004689

Part of ISSN: 18612784 18612776
Contributors: Bazeille, S.; Barasuol, V.; Focchi, M.; Havoutis, I.; Frigerio, M.; Buchli, J.; Caldwell, D.G.; Semini, C.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier

A reactive controller framework for quadrupedal locomotion on challenging terrain

Proceedings - IEEE International Conference on Robotics and Automation
2013 | Conference paper
DOI: 10.1109/ICRA.2013.6630926
EID:

2-s2.0-84887298530

Part of ISBN: 9781467356411
Part of ISSN: 10504729
Contributors: Barasuol, V.; Buchli, J.; Semini, C.; Frigerio, M.; De Pieri, E.R.; Caldwell, D.G.
Source: Self-asserted source
Victor Barasuol via Scopus - Elsevier
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