Dynamic Legged Systems lab

Today we brought our VERO robot to the Genova Smart Week 2024! This event was a great opportunity to showcase how VERO can contribute to a more efficient and sustainable future for cities. #VERO #Robotics #SmartCity #GenovaSmartWeek

Our visiting PhD student, Hilton Marques Santana, is presenting this work today Saturday 23/11 at the IEEE RAS HUMANOIDS Conference during Interactive Session 1 (Foyer 850) from 10:30 to 11:30. Read more about the research: lnkd.in/dKKnKRfQ

Our latest research introduces a robust Invariant Extended Kalman Filter that uses proprioceptive sensors and robust cost functions to minimize the impact of slippage and outlier measurements. 🚀 Results: Reduced pose drift by up to 40% over 450m compared to current methods!

Exploiting morphological symmetries can enhance model-free RL sample efficiency, policy optimality, and sim2real transfer in legged locomotion and manipulation. Our #IROS2024 paper exploits these symmetries for RL methods. Code is open-sourced: 🌐 bit.ly/SymLoco🧵

Authors: Giulio Turrisi (@valenorf), Lucas Schulze, Vivian S. Medeiros, Claudio Semini, Victor Barasuol Paper: arxiv.org/pdf/2403.19862 Presentation: Quadruped Locomotion, Friday 18, 18:15-18:30 PM, GMT+4

Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At #IROS24, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.

Authors: Lorenzo Amatucci, Giulio Turrisi (@valenorf), Angelo Bratta , Victor Barasuol , Claudio Semini Paper: arxiv.org/pdf/2403.11742 Presentation: Robust and Adaptive Control II, Friday 18, 10:45-11:00 PM, GMT+4 Code: github.com/iit-DLSLab/DWM…

Model Predictive Control (MPC) for legged robots is limited by model complexity. In our #IROS24 paper, we show how partitioning the robot into smaller subsystems, each controlled in parallel by a faster dedicated MPC, can achieve complex whole-body motions more efficiently.

Authors: Giulio Turrisi (@valenorf), Valerio Modugno (@Valerio_Modugno), Lorenzo Amatucci, Dimitrios Kanoulas (@dkanou), Claudio Semini PDF: arxiv.org/pdf/2403.11383 Presentation: Locomotion Control session, Friday 18, 17.00 PM GMT+4 Code: github.com/iit-DLSLab/Qua…

Sampling-based methods are attractive due to the incredible simplicity of their implementation. At #IROS24, we present our work where we use GPU acceleration in #JAX to jointly optimize for gait parameters and ground reaction forces using more than 10K rollouts in less than 2ms

We are hiring: 1 Technical Project Manager for Space Robotics and Teleoperation and 1 Software Engineer for Loco-Manipulation on Quadruped Robots 📧 For more info and to apply, visit: lnkd.in/dxVeif9v 📅 Deadline: Open until filled #JobOpening #ProjectManager

VERO is a unique robot dog that integrates locomotion and cleaning abilities, allowing it to vacuum autonomously while walking. The project highlights the versatility of legged robots in multi-functional tasks. Stay tuned for more updates, and let us know what you think! 💡

We are super happy that our latest research project, VERO, has been featured in the IEEE Spectrum Magazine (which is sent to over 400'000 IEEE members worldwide) under the article titled "Robot Dog Vacuums With Its Feet" spectrum.ieee.org/files/66028/09… #VERO #RobotDog #GreenRobotics

VERO, a legged robot by Dynamic Legged Systems Lab, cleans hard-to-reach areas, like beaches and parks, using foot-mounted vacuum nozzles to efficiently remove cigarette butts from challenging terrains. YouTube / @DynamicLeggedSystemslab

Thanks also to Giacomo Mazzaglia, Matteo Villa, Franco Seguezzo, Gabriel Fischer Abati, and João Carlos Virgolino Soares for their technical support.

🚀 VERO is out on @IEEESpectrum ! spectrum.ieee.org/robot-dog-vacu… VERO is a Vacuum-cleaner Equipped RObot that can assist people in cleaning beaches, small alleys, and parks, particularly for removing cigarette butts, in terrains hard to reach for wheeled and tracked robots.

For more technical details, read our latest publication in the Journal of Field Robotics (lnkd.in/dw-g72Pe). Thanks to the authors Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini. Further information: lnkd.in/dm8YptwG

We demonstrate how to leverage harmonic analysis and Koopman operator theory to learn linear models for the dynamics of symmetric robotic systems.

Excited to present our work at #L4DC: "Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling". Join us at our poster session on Wed at 16:15! 🔗 Website and code: danfoa.github.io/DynamicsHarmon…📷 Paper: proceedings.mlr.press/v242/ordonez-a…

Paper 1 Link & Code: Link: iit-dlslab.github.io/papers/abati24… Code: github.com/iit-DLSLab/Pan…

"The DLS lab presents at the 21st Int. Conf. on Ubiquitous Robots (UR2024) with 2 papers: Paper 1: Abati et al. “Panoptic-SLAM: Visual SLAM in Dynamic Environments”. Paper 2: Bratta et al. “ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion”.