Andreea Radulescu — accepted AI-conference papers

2018

Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization

Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell +4

RA-L 2018

Traditional motion planning approaches for multilegged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of complex whole-body behaviors. Currently, coupling

Cited by 170 Source ↗Scholar ↗

2017

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

Marco Camurri, Maurice F. Fallon, Stéphane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin G. Caldwell +1

RA-L 2017

Reliable state estimation is crucial for stable planning and control of legged locomotion. A fundamental component of a state estimator in legged platforms is Leg Odometry, which only requires information about kinematics and contacts. Many legged robots use dedicated sensors on each foot to detect

Cited by 114 Source ↗Scholar ↗

2017

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion

Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli +2

ICRA 2017poster

We present a trajectory optimization framework for legged locomotion on rough terrain. We jointly optimize the center of mass motion and the foothold locations, while considering terrain conditions. We use a terrain costmap to quantify the desirability of a foothold location. We increase the gait's…

Cited by 108 Source ↗Scholar ↗

2017

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems

Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini

ICRA 2017poster

Autonomous legged robots will be required to handle a wide range of tasks in complex environments. While a lot of research has focused on developing their abilities for periodic locomotion tasks, less effort has been invested in devising generalized strategies for dynamic, non-periodic movements. Mo…

Cited by 9 Source ↗Scholar ↗