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Jakub Bednarek

3 accepted papers

2020

CNN-based Foothold Selection for Mechanically Adaptive Soft Foot

Jakub Bednarek, Noel Maalouf, Mathew J. Pollayil, Manolo Garabini, Manuel G. Catalano, Giorgio Grioli +1
IROS 2020poster

In this paper, we consider a problem of foothold selection for the quadrupedal robots equipped with compliant adaptive feet. Starting from a model of the foot we compute the quality of the potential footholds considering also kinematic constraints and collisions during evaluation. Since terrain asse…

Cited by 5Source ↗Scholar ↗
2019

Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion

Dominik Belter, Jakub Bednarek, Hsiu-Chin Lin, Guiyang Xin, Michael Mistry
ICRA 2019poster

In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. First, we evaluate the geometrical characteristics of each cell on the elevation map, checks kinematic c…

Cited by 21Source ↗Scholar ↗
2019

What am I touching? Learning to classify terrain via haptic sensing

Jakub Bednarek, Michal Bednarek, Lorenz Wellhausen, Marco Hutter, Krzysztof Walas
ICRA 2019poster

Mobile robots are becoming very popular in real-world outdoors applications, where there are many challenges in robot control and perception. One of the most critical problems is to characterise the terrain traversed by the robot. This knowledge is indispensable for optimal terrain negotiation. Curr…

Cited by 46Source ↗Scholar ↗