Cecilia Morandi — accepted AI-conference papers

2021

HRP-4 Walks on Soft Feet

Manuel G. Catalano, Irene Frizza, Cecilia Morandi, Giorgio Grioli, Ko Ayusawa, Takahiro Ito +1

RA-L 2021

The majority of humanoid robots adopt flat feet, a choice that can limit their performance when maneuvering over uneven terrains. Recently, a soft robotic foot designed to adapt to the ground was proposed to overcome part of these limitations. This paper presents the results of testing two such feet

Cited by 21 Source ↗Scholar ↗

2020

Exploiting Adaptability in Soft Feet for Sensing Contact Forces

Domenico Mura, Cosimo Della Santina, Cristina Piazza, Irene Frizza, Cecilia Morandi, Manolo Garabini +2

RA-L 2020

The large majority of legged robots currently employ ball-feet or flat-feet. More recently soft feet have been introduced, to improve walking performance on uneven grounds. Nevertheless, their novel adaptability requires sensor systems beyond traditional Force/Torque sensors to estimate the distribu

Cited by 5 Source ↗Scholar ↗