Giulio Turrisi
@giulioturrisi.bsky.social
Robotics Researcher (ML/RL/Optimization) at the Dynamic Legged Systems Lab, Italian Institute of Technology. Github: https://github.com/giulioturrisi. Google Scholar: https://scholar.google.com/citations?user=yt9v8skAAAAJ&hl=it.
IEEE RA-L enters its double-blind era
December 30, 2024 at 5:24 PM
IEEE RA-L enters its double-blind era
(Other Twitter stuff)
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At iros2024, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At iros2024, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
November 24, 2024 at 10:32 AM
(Other Twitter stuff)
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At iros2024, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At iros2024, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
(Posting old Twitter stuff for boosting connections/the algorithm)
Open-source (and in python!) MPC for quadruped robots. Gradient-based (via acados) or sampling-based in #JAX. Plus, multiple robots, multiple terrains, and multiple gaits!
Link: github.com/iit-DLSLab/Q...
Open-source (and in python!) MPC for quadruped robots. Gradient-based (via acados) or sampling-based in #JAX. Plus, multiple robots, multiple terrains, and multiple gaits!
Link: github.com/iit-DLSLab/Q...
November 21, 2024 at 5:38 PM
(Posting old Twitter stuff for boosting connections/the algorithm)
Open-source (and in python!) MPC for quadruped robots. Gradient-based (via acados) or sampling-based in #JAX. Plus, multiple robots, multiple terrains, and multiple gaits!
Link: github.com/iit-DLSLab/Q...
Open-source (and in python!) MPC for quadruped robots. Gradient-based (via acados) or sampling-based in #JAX. Plus, multiple robots, multiple terrains, and multiple gaits!
Link: github.com/iit-DLSLab/Q...
Model Predictive Control (MPC) for legged robots is limited by model complexity. In our recent 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.
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November 17, 2024 at 11:15 AM
Model Predictive Control (MPC) for legged robots is limited by model complexity. In our recent 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.
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