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1809.09759
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Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
IEEE Robotics and Automation Letters (RA-L), 2018
25 September 2018
O. V. Magaña
Victor Barasuol
Marco Camurri
Luca Franceschi
Michele Focchi
Massimiliano Pontil
D. Caldwell
Claudio Semini
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Papers citing
"Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs"
37 / 37 papers shown
Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
V. S. Medeiros
Giovanni Dessy
Thiago Boaventura
Marcelo Becker
Claudio Semini
Victor Barasuol
96
0
0
24 Oct 2025
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion
Ziyi Zhou
Qian Meng
H. Kress-Gazit
Ye Zhao
140
1
0
27 Sep 2025
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience
Conference on Robot Learning (CoRL), 2024
Elliot Chane-Sane
Joseph Amigo
Thomas Flayols
Ludovic Righetti
Nicolas Mansard
272
19
0
20 Sep 2024
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal
IEEE International Conference on Robotics and Automation (ICRA), 2023
M. Asselmeier
Jane Ivanova
Ziyi Zhou
Patricio A. Vela
Ye Zhao
268
5
0
14 Nov 2023
Robot Parkour Learning
Conference on Robot Learning (CoRL), 2023
Ziwen Zhuang
Zipeng Fu
Jianren Wang
Christopher G Atkeson
Soeren Schwertfeger
Chelsea Finn
Hang Zhao
437
229
0
11 Sep 2023
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
Shafeef Omar
Lorenzo Amatucci
Giulio Turrisi
Victor Barasuol
Claudio Semini
171
2
0
27 Jul 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
Shafeef Omar
Lorenzo Amatucci
Victor Barasuol
Giulio Turrisi
Claudio Semini
354
6
0
24 Jul 2023
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Riccardo Parosi
Mattia Risiglione
D. Caldwell
Claudio Semini
Victor Barasuol
147
11
0
10 Jul 2023
DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills
M. Shafiee
Guillaume Bellegarda
A. Ijspeert
221
11
0
12 Jun 2023
Enhancing Efficiency of Quadrupedal Locomotion over Challenging Terrains with Extensible Feet
IEEE International Conference on Systems, Man and Cybernetics (SMC), 2023
L. Kumar
Sarvesh Sortee
Titas Bera
Ranjan Dasgupta
106
0
0
03 May 2023
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
Despina Ekaterini Argiropoulos
Dimitrios Papageorgiou
Michael Maravgakis
Drosakis Drosakis
P. Trahanias
73
4
0
03 Apr 2023
Informed Guided Rapidly-Exploring Random Trees*-Connect for Path Planning of Walking Robots
International Conference on Control, Automation, Robotics and Vision (ICARCV), 2022
D. Belter
132
7
0
06 Mar 2023
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
IEEE Transactions on robotics (TRO), 2022
Shamel Fahmi
Victor Barasuol
Domingo Esteban
Octavio Villarreal
Claudio Semini
169
35
0
02 Dec 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision
Conference on Robot Learning (CoRL), 2022
Ananye Agarwal
Ashish Kumar
Jitendra Malik
Deepak Pathak
276
274
0
14 Nov 2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Angelo Bratta
Avadesh Meduri
Michele Focchi
Ludovic Righetti
Claudio Semini
287
4
0
30 Sep 2022
Recent Approaches for Perceptive Legged Locomotion
Hersh Sanghvi
288
0
0
21 Sep 2022
Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Garen Haddeler
Hari P. Palanivelu
Yung Chuen Ng
Fabien Colonnier
A. H. Adiwahono
Zhibin Li
C. Chew
Meng Yee Michael Chuah
286
3
0
20 Sep 2022
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
IEEE International Conference on Robotics and Automation (ICRA), 2022
Mingyo Seo
Ryan Gupta
Yifeng Zhu
Alexy Skoutnev
Luis Sentis
Yuke Zhu
291
16
0
19 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control
IEEE Transactions on robotics (TRO), 2022
R. Grandia
Fabian Jenelten
Shao-hua Yang
Farbod Farshidian
Marco Hutter
260
227
0
17 Aug 2022
Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning
IEEE International Conference on Robotics and Automation (ICRA), 2022
Chong Zhang
Lizhi Yang
313
6
0
16 Aug 2022
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Kuang-Huei Lee
Ofir Nachum
Tingnan Zhang
S. Guadarrama
Jie Tan
Wenhao Yu
205
18
0
27 Jul 2022
Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
ZhiHong Xu
Hongbo Zhu
Hua Chen
Wei Zhang
3DV
188
8
0
07 Jul 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
IEEE Transactions on robotics (TRO), 2022
Fabian Jenelten
R. Grandia
Farbod Farshidian
Marco Hutter
266
81
0
28 Jun 2022
Elevation Mapping for Locomotion and Navigation using GPU
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Takahiro Miki
Lorenz Wellhausen
R. Grandia
Fabian Jenelten
Timon Homberger
Marco Hutter
283
144
0
27 Apr 2022
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
IEEE International Conference on Robotics and Automation (ICRA), 2022
Lucas Clemente
Octavio Villarreal
Angelo Bratta
Michele Focchi
Victor Barasuol
G. G. Muscolo
Claudio Semini
106
9
0
08 Mar 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild
Science Robotics (Sci. Robot.), 2022
Takahiro Miki
Joonho Lee
Jemin Hwangbo
Lorenz Wellhausen
V. Koltun
Marco Hutter
532
905
0
20 Jan 2022
Fast Footstep Planning on Uneven Terrain Using Deep Sequential Models
Hersh Sanghvi
Camillo J Taylor
112
1
0
14 Dec 2021
Coupling Vision and Proprioception for Navigation of Legged Robots
Computer Vision and Pattern Recognition (CVPR), 2021
Zipeng Fu
Ashish Kumar
Ananye Agarwal
Haozhi Qi
Jitendra Malik
Deepak Pathak
255
90
0
03 Dec 2021
Learning to Jump from Pixels
Conference on Robot Learning (CoRL), 2021
G. Margolis
Tao Chen
Kartik Paigwar
Xiang Fu
Donghyun Kim
Sangbae Kim
Pulkit Agrawal
231
98
0
28 Oct 2021
Vision-based Navigation for a Small-scale Quadruped Robot Pegasus-Mini
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2021
Ganyu Deng
Jianwen Luo
Caiming Sun
Dongwei Pan
Longyao Peng
Ning Ding
Aidong Zhang
189
9
0
09 Oct 2021
Model Predictive Control with Environment Adaptation for Legged Locomotion
IEEE Access (IEEE Access), 2021
Niraj Rathod
Angelo Bratta
Michele Focchi
Mario Zanon
Octavio Villarreal
Claudio Semini
Alberto Bemporad
240
49
0
12 May 2021
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion
Conference on Robot Learning (CoRL), 2020
Deepali Jain
Atil Iscen
Ken Caluwaerts
210
36
0
23 Nov 2020
How does the structure embedded in learning policy affect learning quadruped locomotion?
Kuangen Zhang
Jongwoo Lee
Zhimin Hou
Clarence W. de Silva
Chenglong Fu
N. Hogan
172
1
0
29 Aug 2020
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
IEEE International Conference on Robotics and Automation (ICRA), 2019
Octavio Antonio Villarreal-Magaña
Victor Barasuol
Patrick M. Wensing
Darwin G. Caldwell
Claudio Semini
240
89
0
30 Sep 2019
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 2019
Vassilios Tsounis
Mitja Alge
Joonho Lee
Farbod Farshidian
Marco Hutter
238
218
0
18 Sep 2019
Rolling in the Deep -- Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization
IEEE Robotics and Automation Letters (RA-L), 2019
Marko Bjelonic
Prajish K. Sankar
Dario Bellicoso
H. Vallery
Marco Hutter
193
110
0
16 Sep 2019
Robust Legged Robot State Estimation Using Factor Graph Optimization
David Wisth
Marco Camurri
Maurice F. Fallon
175
90
0
05 Apr 2019
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