Dhionis V. Sako — accepted AI-conference papers

2023

Learning-Based Design and Control for Quadrupedal Robots With Parallel-Elastic Actuators

Filip Bjelonic, Joonho Lee, Philip Arm, Dhionis V. Sako, Davide Tateo, Jan Peters +1

RA-L 2023

Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an iterative and tedious process, often relying on intuition and heur

Cited by 47 Source ↗Scholar ↗

2019

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh, Dhionis V. Sako, F. Dante Tresoldi, Fabian Jenelten +1

RA-L 2019

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach relies on a zero-moment point-based motion op

Cited by 178 Source ↗Scholar ↗